Coal mining machine control method, device and equipment based on trajectory tracking and storage medium

Abstract

The invention provides a coal mining machine control method, device and equipment based on trajectory tracking and a storage medium, a path is planned by extracting a coal mining process, and the path comprises a starting point of each planning stage and a propulsion degree in a parallel working face direction; acquiring operation data of the coal mining machine in real time; calculating a theoretical steering angle required by a front sliding shoe when the starting point of each planning stage is reached according to the operation data of the coal mining machine; the support propelling stroke is obtained in real time, the deviation angle of the scraper conveyor is calculated according to the support propelling stroke, and the deviation angle of the scraper conveyor serves as the actual steering angle; the optimal traction speed of the coal mining machine and the angle, needing to be adjusted, of the scraper blade are obtained by combining the theoretical steering angle and the actual steering angle, a model does not need to be built in advance, dynamic real-time control can be achieved, and the coal mining machine can operate on the scraper blade more stably on the premise that the coal mining machine is controlled to be subjected to path planning.

Description

Technical Field

[0001] The present invention relates to the technical field of fully mechanized mining automation control, and in particular to a coal mining machine control method, device, equipment and storage medium based on trajectory tracking. Background Art

[0002] As one of the important energy sources, coal occupies an important position in the global energy structure. With the advancement of coal mining technology, coal mining machines have been widely used, and the efficiency and safety of coal mining have been significantly improved. The control of coal mining machines in fully mechanized working faces mostly adopts manual on-site control. The harsh and complex mining environment makes it impossible for operators to accurately judge the mining environment, resulting in a certain lag and inaccuracy in the control of coal mining machines. The development of accurate coal mining machine control technology has become the key to solving these problems. In related technologies, by constructing a control model, the coal mining machine is controlled based on the control module. For example, the coal mining machine cutting curve is extracted from the mining data model, and the fully mechanized working face data is obtained to update the coal mining machine cutting curve, and the updated cutting curve is sent to the coal mining machine control center to control the coal mining machine to perform coal mining operations. However, this method cannot update geographic information in real time using geophysical exploration and drilling technology, and thus cannot update the cutting data in real time, resulting in control lag. Summary of the invention

[0003] The present invention provides a coal mining machine control method, device, equipment and storage medium based on trajectory tracking, which are used to solve the defects that the traditional method of building a control model in advance cannot update geographic information in real time and cannot update cutting data in real time, resulting in control lag.

[0004] The present invention provides a coal mining machine control method based on trajectory tracking, comprising: Extracting a coal mining process planning path, the path including a starting point for each planning stage; Acquire the coal mining machine operation data in real time; calculate the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; Acquire the propulsion stroke of the support in real time, calculate the offset angle of the scraper conveyor according to the propulsion stroke of the support, and use the offset angle of the scraper conveyor as the actual steering angle; The optimal traction speed of the coal mining machine and the angle at which the scraper needs to be adjusted are obtained by combining the theoretical steering angle with the actual steering angle.

[0005] The coal mining machine control method based on trajectory tracking provided by the present invention, wherein the coal mining machine operation data includes the coal mining machine position, heading angle, and the distance between the front and rear sliding shoes of the coal mining machine, and the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data, including: Calculate the position of the rear sliding shoe of the coal machine according to the coal machine position, heading angle, and the distance between the front and rear sliding shoes of the coal machine; According to the starting point of each planning stage, the theoretical steering angle required by the front slipper is calculated in combination with the position of the rear slipper of the coal machine, the heading angle of the coal machine and the current speed of the coal machine.

[0006] The coal mining machine control method based on trajectory tracking provided by the present invention, wherein the support advancement stroke includes: a first advancement stroke of the support closest to the front sliding shoe of the coal mining machine and a second advancement stroke of the support at a distance from the front sliding shoe to the distance from the rear sliding shoe, and the offset angle of the scraper conveyor is calculated according to the support advancement stroke, and the offset angle of the scraper conveyor is used as the actual steering angle, including: According to the first shifting stroke and the second shifting stroke, the actual steering angle of the front sliding shoe of the coal mining machine is calculated.

[0007] The coal mining machine control method based on trajectory tracking provided by the present invention, wherein the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper are obtained by combining the theoretical steering angle with the actual steering angle, comprises: When the difference between the theoretical steering angle and the actual steering angle is lower than a preset left tilt threshold, the angle of left tilt adjustment required is calculated, and the corresponding stroke of the left bracket push cylinder is shortened according to the angle of left tilt adjustment required, while the corresponding stroke of the right cylinder is increased; When the difference between the theoretical steering angle and the actual steering angle is higher than the preset right tilt threshold, the angle that needs to be adjusted for the right tilt is calculated, and the corresponding stroke of the left bracket push cylinder is increased according to the angle that needs to be adjusted for the left tilt, while the corresponding stroke of the right cylinder is shortened.

[0008] The coal mining machine control method based on trajectory tracking provided by the present invention, wherein the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper are obtained by combining the theoretical steering angle with the actual steering angle, comprises: The average of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is used as the planned speed of the coal machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed of the coal mining machine is lower than the current speed of the coal mining machine, the coal mining machine is directly controlled to slow down to the planned speed of the coal mining machine; if the planned speed of the coal mining machine is higher than the current speed of the coal mining machine, the coal mining machine is controlled to increase its speed according to the coal mining machine operation data.

[0009] The present invention also provides a coal mining machine control device based on trajectory tracking, comprising: An extraction module, used for extracting a coal mining process planning path, wherein the path includes a starting point of each planning stage; The first calculation module is used to obtain the coal mining machine operation data in real time; and calculate the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; The second calculation module is used to obtain the propulsion stroke of the support in real time, calculate the offset angle of the scraper conveyor according to the propulsion stroke of the support, and use the offset angle of the scraper conveyor as the actual steering angle; The acquisition module is used to combine the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle that the scraper needs to be adjusted.

[0010] According to the track tracking-based coal mining machine control device provided by the present invention, the acquisition module includes: a scraper required adjustment angle acquisition unit, which is configured as follows: When the difference between the theoretical steering angle and the actual steering angle is lower than a preset left tilt threshold, the angle of left tilt adjustment required is calculated, and the corresponding stroke of the left bracket push cylinder is shortened according to the angle of left tilt adjustment required, while the corresponding stroke of the right cylinder is increased; When the difference between the theoretical steering angle and the actual steering angle is higher than the preset right tilt threshold, the angle that needs to be adjusted for the right tilt is calculated, and the corresponding stroke of the left bracket push cylinder is increased according to the angle that needs to be adjusted for the left tilt, while the corresponding stroke of the right cylinder is shortened.

[0011] According to the coal mining machine control device based on trajectory tracking provided by the present invention, the acquisition module includes an optimal traction speed acquisition unit, which is configured as follows: The average of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is used as the planned speed of the coal machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed of the coal mining machine is lower than the current speed of the coal mining machine, the coal mining machine is directly controlled to slow down to the planned speed of the coal mining machine; if the planned speed of the coal mining machine is higher than the current speed of the coal mining machine, the coal mining machine is controlled to increase its speed according to the coal mining machine operation data.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, a coal mining machine control method based on trajectory tracking as described in any one of the above items is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the coal mining machine control method based on trajectory tracking described in any one of the above items is implemented.

[0014] The coal mining machine control method, device, equipment and storage medium based on trajectory tracking provided by the present invention extract the coal mining process planning path, the path includes the starting point of each planning stage and the advancement degree in the direction parallel to the working surface; obtain the coal mining machine operation data in real time; calculate the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; obtain the support propulsion stroke in real time, calculate the offset angle of the scraper conveyor according to the support propulsion stroke, and use the offset angle of the scraper conveyor as the actual steering angle; combine the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle required to adjust the scraper, without building a model in advance, and can realize dynamic real-time control, so that the coal mining machine can run more smoothly on the scraper under the premise of controlling the coal mining machine in path planning. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are 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.

[0016] Figure 1 It is a flow chart of a coal mining machine control method based on trajectory tracking provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the relationship between the coal machine tracking trajectory process and the scraper conveyor morphology provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the principle of a pure tracking algorithm provided by an embodiment of the present invention; Figure 4 It is a functional structure diagram of a coal mining machine control device based on trajectory tracking provided by an embodiment of the present invention; Figure 5 It is a functional structure diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are 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.

[0018] Figure 1 A flow chart of a coal mining machine control method based on trajectory tracking provided by an embodiment of the present invention, such as Figure 1As shown, the coal mining machine control method based on trajectory tracking provided by the embodiment of the present invention includes: Step 101, extracting a coal mining process planning path, wherein the path includes a starting point of each planning stage; In an embodiment of the present invention, the path includes the starting position (x direction parallel to the working surface) and the advancement (y direction perpendicular to the working surface) of each planning stage; the advancement specifies the specific distance that the coal mining machine moves in the direction perpendicular to the working surface (i.e., the y-axis direction). By setting different advancement values, the depth and width of the coal seam cut by the coal mining machine can be accurately controlled, thereby defining the specific position and range of each cutting. Precise control of the advancement helps ensure that the coal seam is cut evenly. This not only improves the recovery rate of coal, but also reduces unnecessary waste of resources. By adjusting the advancement of each cutting, the coal mining machine can cut according to the predetermined thickness, avoiding excessive or insufficient cutting, thereby improving mining efficiency and coal quality.

[0019] Step 102, acquiring the coal mining machine operation data in real time; calculating the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; Step 103, obtaining the propulsion stroke of the support in real time, calculating the offset angle of the scraper conveyor according to the propulsion stroke of the support, and using the offset angle of the scraper conveyor as the actual steering angle; In the embodiment of the present invention, the heading angle of the coal mining machine obtained by the inertial navigation system , Coal Mine Location ,speed The planned path including the advancement degree is extracted from the coal mining process based on the information of the coal mining process, and the scraper shape (support push cylinder stroke) data and the LSC inertial navigation system data are combined to improve the singleness of the data source and increase the reliability of the method. Combined with the coal mining machine inertial navigation system LSC, the heading angle of the inertial navigation system and the shape of the scraper can be comprehensively considered.

[0020] Step 104: Combining the theoretical steering angle with the actual steering angle, the optimal traction speed of the coal mining machine and the angle at which the scraper needs to be adjusted are obtained.

[0021] In the embodiment of the present invention, the coal mining machine operating parameters are adjusted between the fixed scraper form and the planned path, so that the coal mining machine can move more smoothly. According to the next planned point of the coal mining machine, the coal mining machine travel speed is adjusted to ensure the best path tracking effect.

[0022] The main function of the shearer skid is support and guidance, not steering. The trajectory is directly affected by the front conveyor shape. The actual process of the coal machine tracking trajectory can be converted into the planning of the scraper conveyor shape. The conversion relationship is as follows: Figure 2As shown: The planning point is the target position that the shearer needs to reach. The theoretical steering angle (α) is the ideal steering angle calculated based on the current position and the next planning point. The actual steering angle is the actual deflection angle based on the current position and posture of the scraper conveyor. The bracket controls the shape of the scraper conveyor through the push cylinder. The push cylinder under each bracket can be extended and retracted to adjust the shape of the scraper conveyor. The main functions of the front and rear sliding shoes are support and guidance. The travel trajectory of the coal shearer is mainly determined by the shape of the scraper conveyor.

[0023] The traditional coal mining machine control method controls the coal mining machine based on the control module by constructing a control model. For example, the coal mining machine cutting curve is extracted from the mining data model, and the comprehensive mining face data is obtained to update the coal mining machine cutting curve. The updated cutting curve is sent to the coal mining machine control center to control the coal mining machine to perform coal mining operations. However, this method cannot update geographic information in real time using geophysical exploration and drilling technology, and thus cannot update cutting data in real time, resulting in control lag.

[0024] The coal mining machine control method based on trajectory tracking provided by the embodiment of the present invention extracts the coal mining process planning path, wherein the path includes the starting point of each planning stage and the advancement degree in the direction parallel to the working surface; obtains the coal mining machine operation data in real time; calculates the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; calculates the offset angle of the scraper conveyor according to the support advancement stroke, and uses the offset angle of the scraper conveyor as the actual steering angle; obtains the optimal traction speed of the coal mining machine and the angle required to adjust the scraper by combining the theoretical steering angle with the actual steering angle, and can realize dynamic real-time control without building a model in advance, so that the coal mining machine can run more smoothly on the scraper under the premise of controlling the coal mining machine in path planning.

[0025] Based on any of the above embodiments, the coal mining machine operation data includes the coal mining machine position, heading angle, and the distance between the front and rear sliding shoes of the coal mining machine. The theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data, including: Step 201, calculating the position of the rear sliding shoe of the coal machine according to the coal machine position, heading angle, and the distance between the front and rear sliding shoes of the coal machine; Step 202, according to the starting point of each planning stage, the theoretical steering angle required by the front slipper is calculated in combination with the position of the rear slipper of the coal machine, the heading angle of the coal machine and the current speed of the coal machine.

[0026] The theoretical steering angle is calculated based on the pure tracking algorithm. The idea of ​​the pure tracking algorithm is to learn from human driving habits, select a tail preview point on the reference trajectory at a certain distance from the current position of the vehicle, and control the vehicle to drive to the preview point along the expected trajectory by adjusting the steering angle of the front wheels.

[0027] Coal mining machine walking principle: In the fully mechanized working face, the coal mining machine actually works by riding on the front conveyor of the working face with four sliding shoes. The two sliding shoes on the coal wall side are supported on the coal shovel board of the scraper conveyor, and the two sliding shoes on the goaf area are supported on the groove side of the scraper conveyor and play a guiding role, so that the coal mining machine will not deviate from the pin track. The pure tracking algorithm is introduced into the operation process of the coal mining machine. The algorithm is described as follows: Based on the current center position of the rear sliding shoe of the coal mining machine, move forward on the planned path. The distance matches a planning point , assuming that the center point of the rear sliding shoe of the coal mining machine is Can follow a certain turning radius Drive to the preview point. Use the algorithm combined with the preview point distance , turning radius , the heading angle of the fuselage at the preview point in the working surface coordinate system The relationship between the coal machine and the planning point is determined Steering angle required for front slipper theory , because the sliding shoe cannot turn, is the theoretical steering angle of the sliding shoe, such as Figure 3 As shown: △AOC is an isosceles triangle. In △AOB, AB⊥OA, then In order to make the shearer rear sliding shoe track the planned point , the sine theorem needs to be satisfied in △AOC: =》 In the above formula, is the turning radius, and the curvature is expressed as: The simplified shearer model conforms to the Ackerman steering geometry. Therefore, the control quantity of the coal mining machine tracking algorithm The final expression of is as follows: In the above formula, is the distance between the front and rear sliding shoes of the coal mining machine, and the distance from the planning point to the rear sliding shoe is , is the angle between the planning point and the coal mining machine body (heading angle). Considering the time factor, the forward distance Dependent on speed. The foresight distance is expressed as a linear function of speed: , refresh Relational formula: In the knowledge Under the condition of the angle between the coal mining machine body direction and the planning point and the forward distance from the target point at the moment, it is assumed that the lateral error between the coal mining machine body and the planning point is , define the lateral error as the distance from the planning point to the coal mining machine: The curvature can be expressed as .

[0028] because yes The CTE (lateral tracking error) in the direction, then the above formula shows that the algorithm can be regarded as a P controller. The P coefficient is , then the P controller is affected by the forward-looking distance The impact is huge, and the trajectory tracking effect is determined by the foresight distance.

[0029] Calculate the rear skid shoe of the coal machine The position is expressed as follows: Set planning points from the planned path , combined with the position of the rear sliding shoe of the coal machine Coal Mine Heading Angle And the "theoretical steering angle" required by the front sliding shoe to calculate the current speed of the coal machine ”, which means as follows: In the formula, is a speed function.

[0030] Based on any of the above embodiments, the support advancement stroke includes: a first advancement stroke of the support closest to the front sliding shoe of the coal mining machine and a second advancement stroke of the support at a distance from the front sliding shoe to the distance from the rear sliding shoe, and the calculation of the offset angle of the scraper conveyor according to the support advancement stroke, and taking the offset angle of the scraper conveyor as the actual steering angle, includes: According to the first shifting stroke and the second shifting stroke, the actual steering angle of the front sliding shoe of the coal mining machine is calculated.

[0031] Set the distance from the front sliding shoe of the coal mining machine to the nearest support and distance front shoe The travel of the bracket , calculate the coal mining machine's operating posture at the next position, abstracted as the "actual steering angle" of the front sliding shoe of the coal mining machine ”, which means as follows: Converted to speed function, the formula is as follows: Will Bringing in the Pure Pursuit pure tracking algorithm gives: Simplified, the current scraper conveyor posture rated speed function formula can be obtained to calculate the speed function formula as follows: and the velocity function calculated from the planning points For comparison, because Difference between the propulsion stroke and the support If they are very close, the influence of the speed function can be ignored.

[0032] In the embodiment of the present invention, a pure tracking algorithm is used to calculate the steering angle required by the front skid of the coal mining machine when the coal mining machine reaches the planned point, which is abstracted as the "theoretical steering angle". The offset angle of the scraper is calculated by using the stroke of the support push cylinder, which is abstracted as the "actual steering angle" of the next step of the coal mining machine skid. Combining the "theoretical steering angle" and the "actual steering angle", the optimal traction speed of the coal mining machine and the adjustment angle required for the scraper are comprehensively calculated, and the operating posture of the coal mining machine is adjusted to make the coal mining machine run more smoothly.

[0033] Based on any of the above embodiments, the step of combining the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper includes: When the difference between the theoretical steering angle and the actual steering angle is lower than a preset left tilt threshold, the angle of left tilt adjustment required is calculated, and the corresponding stroke of the left bracket push cylinder is shortened according to the angle of left tilt adjustment required, while the corresponding stroke of the right cylinder is increased; When the difference between the theoretical steering angle and the actual steering angle is higher than the preset right tilt threshold, the angle that needs to be adjusted for the right tilt is calculated, and the corresponding stroke of the left bracket push cylinder is increased according to the angle that needs to be adjusted for the left tilt, while the corresponding stroke of the right cylinder is shortened.

[0034] In the embodiment of the present invention, the scraper shape is adjusted: near That is, the advancement of the support in front of the coal mining machine is adjusted to change the shape of the scraper conveyor, thereby making the coal mining machine's travel trajectory smoother and closer to the planned path.

[0035] Based on any of the above embodiments, the step of combining the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper includes: The average of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is used as the planned speed of the coal machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed of the coal mining machine is lower than the current speed of the coal mining machine, the coal mining machine is directly controlled to slow down to the planned speed of the coal mining machine; if the planned speed of the coal mining machine is higher than the current speed of the coal mining machine, the coal mining machine is controlled to increase its speed according to the coal mining machine operation data.

[0036] In the embodiment of the present invention, the speed of the coal mining machine is adjusted: the same coefficient is set according to the actual situation In the case of When , on the contrary, The compromise solution is and average value As the planned speed of the coal machine, combined with the current speed of the coal machine ,like The coal mining machine is directly controlled to slow down. On the contrary, the real-time operation data of the coal mining machine is required to comprehensively judge whether the current coal mining machine operation state is suitable for acceleration control. In the embodiment of the present invention, the real-time operation data of the coal mining machine includes but is not limited to the real-time basic operation data such as the coal mining machine traction current and temperature.

[0037] The coal mining machine control method based on trajectory tracking provided by the embodiment of the present invention combines the scraper shape (support push cylinder stroke) data and the LSC inertial navigation system data to improve the singleness of the data source and increase the reliability of the method. A pure tracking algorithm is used to calculate the "theoretical steering angle" and the "actual steering angle", and the coal mining machine operating posture is adjusted from two aspects: the coal mining machine speed and the scraper shape (coal mining machine heading). The priority judgment method is used to improve the safety of coal mining machine control. It is also easy to implement and has low computing resource usage.

[0038] The coal mining machine control device based on trajectory tracking provided by the present invention is described below. The coal mining machine control device based on trajectory tracking described below and the coal mining machine control method based on trajectory tracking described above can be referenced to each other.

[0039] Figure 4 A schematic diagram of the structure of a coal mining machine control device based on trajectory tracking provided by an embodiment of the present invention, such as Figure 4 As shown, the coal mining machine control device based on trajectory tracking provided by the embodiment of the present invention includes: Extraction module 401, used to extract the coal mining process planning path, the path including the starting point of each planning stage and the advancement degree in the direction parallel to the working face; The first calculation module 402 is used to obtain the coal mining machine operation data in real time; and calculate the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; The second calculation module 403 is used to calculate the offset angle of the scraper conveyor according to the propulsion stroke of the support, and use the offset angle of the scraper conveyor as the actual steering angle; The acquisition module 404 is used to obtain the optimal traction speed of the coal mining machine and the angle of the scraper required to be adjusted by combining the theoretical steering angle with the actual steering angle.

[0040] In an embodiment of the present invention, the acquisition module includes: a scraper required adjustment angle acquisition unit, which is configured to: When the difference between the theoretical steering angle and the actual steering angle is lower than a preset left tilt threshold, the angle of left tilt adjustment required is calculated, and the corresponding stroke of the left bracket push cylinder is shortened according to the angle of left tilt adjustment required, while the corresponding stroke of the right cylinder is increased; When the difference between the theoretical steering angle and the actual steering angle is higher than the preset right tilt threshold, the angle that needs to be adjusted for the right tilt is calculated, and the corresponding stroke of the left bracket push cylinder is increased according to the angle that needs to be adjusted for the left tilt, while the corresponding stroke of the right cylinder is shortened.

[0041] In an embodiment of the present invention, the acquisition module includes an optimal traction speed acquisition unit configured to: The average of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is used as the planned speed of the coal machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed of the coal mining machine is lower than the current speed of the coal mining machine, the coal mining machine is directly controlled to slow down to the planned speed of the coal mining machine; if the planned speed of the coal mining machine is higher than the current speed of the coal mining machine, the coal mining machine is controlled to increase its speed according to the coal mining machine operation data.

[0042] The coal mining machine control device based on trajectory tracking provided by the embodiment of the present invention extracts the coal mining process planning path, wherein the path includes the starting point of each planning stage and the advancement degree in the direction parallel to the working surface; obtains the coal mining machine operation data in real time; calculates the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; calculates the offset angle of the scraper conveyor according to the support advancement stroke, and uses the offset angle of the scraper conveyor as the actual steering angle; obtains the optimal traction speed of the coal mining machine and the angle required to adjust the scraper by combining the theoretical steering angle with the actual steering angle, and can realize dynamic real-time control without building a model in advance, so that the coal mining machine can run more smoothly on the scraper under the premise of controlling the coal mining machine in path planning.

[0043] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5As shown, the electronic device may include: a processor 510, a communication interface 520, a memory 530 and a communication bus 540, wherein the processor 510, the communication interface 520 and the memory 530 communicate with each other through the communication bus 540. The memory 530 includes a computer program, an operating system and acquired data, and the processor 510 may call the logic instructions in the memory 530 to execute a coal mining machine control method based on trajectory tracking, the method comprising: extracting a coal mining process planning path, the path including a starting point of each planning stage and a degree of advancement in a direction parallel to the working surface; acquiring coal mining machine operation data in real time; calculating the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; calculating the offset angle of the scraper conveyor according to the support advancement stroke, and taking the offset angle of the scraper conveyor as the actual steering angle; combining the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle required to adjust the scraper.

[0044] In addition, the logic instructions in the above-mentioned memory 530 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the relevant technology or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0045] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the trajectory tracking-based coal mining machine control method provided by the above-mentioned methods, the method comprising: extracting a coal mining process planning path, the path comprising a starting point of each planning stage and an advancement degree in a direction parallel to the working face; acquiring coal mining machine operation data in real time; calculating the theoretical steering angle required for the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; calculating the offset angle of the scraper conveyor according to the support advancement stroke, and using the offset angle of the scraper conveyor as the actual steering angle; and obtaining the optimal traction speed of the coal mining machine and the angle required to adjust the scraper by combining the theoretical steering angle with the actual steering angle.

[0046] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0047] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A coal mining machine control method based on trajectory tracking, characterized in that: include: Extracting a coal mining process planning path, the path including a starting point for each planning stage; Acquire the coal mining machine operation data in real time, and calculate the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; Acquire the propulsion stroke of the support in real time, calculate the offset angle of the scraper conveyor according to the propulsion stroke of the support, and use the offset angle of the scraper conveyor as the actual steering angle; The optimal traction speed of the coal mining machine and the angle at which the scraper needs to be adjusted are obtained by combining the theoretical steering angle with the actual steering angle.

2. The coal mining machine control method based on trajectory tracking according to claim 1 is characterized in that: The coal mining machine operation data includes the coal mining machine position, heading angle, and the distance between the front and rear sliding shoes of the coal mining machine. The theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data, including: Calculate the position of the rear sliding shoe of the coal machine according to the coal machine position, heading angle, and the distance between the front and rear sliding shoes of the coal machine; According to the starting point of each planning stage, the theoretical steering angle required by the front slipper is calculated in combination with the position of the rear slipper of the coal machine, the heading angle of the coal machine and the current speed of the coal machine.

3. The coal mining machine control method based on trajectory tracking according to claim 1, characterized in that: The support propulsion stroke includes: a first propulsion stroke of the support closest to the front sliding shoe of the coal mining machine and a second propulsion stroke of the support at a distance from the front sliding shoe to the distance from the rear sliding shoe. The offset angle of the scraper conveyor is calculated according to the support propulsion stroke, and the offset angle of the scraper conveyor is used as the actual steering angle, including: According to the first shifting stroke and the second shifting stroke, the actual steering angle of the front sliding shoe of the coal mining machine is calculated.

4. The coal mining machine control method based on trajectory tracking according to claim 3 is characterized in that: The step of combining the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper includes: When the difference between the theoretical steering angle and the actual steering angle is lower than a preset left tilt threshold, the angle of left tilt adjustment required is calculated, and the corresponding stroke of the left bracket push cylinder is shortened according to the angle of left tilt adjustment required, while the corresponding stroke of the right cylinder is increased; When the difference between the theoretical steering angle and the actual steering angle is higher than the preset right tilt threshold, the angle that needs to be adjusted for the right tilt is calculated, and the corresponding stroke of the left bracket push cylinder is increased according to the angle that needs to be adjusted for the left tilt, while the corresponding stroke of the right cylinder is shortened.

5. The coal mining machine control method based on trajectory tracking according to claim 3 is characterized in that: The step of combining the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper includes: The average of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is used as the planned speed of the coal machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed of the coal mining machine is lower than the current speed of the coal mining machine, the coal mining machine is directly controlled to slow down to the planned speed of the coal mining machine; if the planned speed of the coal mining machine is higher than the current speed of the coal mining machine, the coal mining machine is controlled to increase its speed according to the coal mining machine operation data.

6. A coal mining machine control device based on trajectory tracking, characterized in that: include: An extraction module, used for extracting a coal mining process planning path, wherein the path includes a starting point of each planning stage; The first calculation module is used to obtain the coal mining machine operation data in real time; Calculating the theoretical steering angle required by the front sliding shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; The second calculation module is used to obtain the propulsion stroke of the support in real time, calculate the offset angle of the scraper conveyor according to the propulsion stroke of the support, and use the offset angle of the scraper conveyor as the actual steering angle; The acquisition module is used to combine the theoretical steering angle with the actual steering angle to obtain the optimal traction speed of the coal mining machine and the angle that the scraper needs to be adjusted.

7. The coal mining machine control device based on trajectory tracking according to claim 6, characterized in that: The acquisition module includes: a scraper required adjustment angle acquisition unit, which is configured to: When the difference between the theoretical steering angle and the actual steering angle is lower than a preset left tilt threshold, the angle of left tilt adjustment required is calculated, and the corresponding stroke of the left bracket push cylinder is shortened according to the angle of left tilt adjustment required, while the corresponding stroke of the right cylinder is increased; When the difference between the theoretical steering angle and the actual steering angle is higher than the preset right tilt threshold, the angle that needs to be adjusted for the right tilt is calculated, and the corresponding stroke of the left bracket push cylinder is increased according to the angle that needs to be adjusted for the left tilt, while the corresponding stroke of the right cylinder is shortened.

8. The coal mining machine control device based on trajectory tracking according to claim 6, characterized in that: The acquisition module includes an optimal traction speed acquisition unit, which is configured to: The average of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is used as the planned speed of the coal machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed of the coal mining machine is lower than the current speed of the coal mining machine, the coal mining machine is directly controlled to slow down to the planned speed of the coal mining machine; if the planned speed of the coal mining machine is higher than the current speed of the coal mining machine, the coal mining machine is controlled to increase its speed according to the coal mining machine operation data.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the coal mining machine control method based on trajectory tracking as described in any one of claims 1 to 5 is implemented.

10. A non-transitory readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the coal mining machine control method based on trajectory tracking as described in any one of claims 1 to 5 is implemented.

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