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

Abstract

The application provides a coal mining machine control method, device and equipment based on trajectory tracking and a storage medium. A coal mining process planning path is extracted, the path including a starting point of each planning stage and a pushing degree in the direction of a parallel working face; coal mining machine operation data is acquired in real time; a theoretical turning angle required by a front shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data; a support pushing distance is acquired in real time, and an offset angle of a scraper conveyor is calculated according to the support pushing distance; the offset angle of the scraper conveyor is taken as an actual turning angle; the optimal traction speed of the coal mining machine and the angle required by the scraper to be adjusted are obtained by combining the theoretical turning angle and the actual turning angle, the dynamic real-time control can be realized without constructing a model in advance, and the coal mining machine is more stably operated on the scraper under the premise of path planning.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of fully mechanized automatic control technology, and particularly relates to a coal winning machine control method, device and equipment based on trajectory tracking and a storage medium. BACKGROUND

[0002] Coal, as one of the important energy sources, occupies an important position in the global energy structure. With the progress of coal mining technology, coal winning machines have been widely used, and the efficiency and safety of coal mining have been significantly improved. The control of fully mechanized working face coal winning machines mostly adopts manual field control method. The complex mining environment makes it difficult for operators to accurately judge the mining environment, resulting in a certain lag and inaccuracy in the control of coal winning machines. The development of precise coal winning machine control technology has become the key to solving these problems. In related technologies, a control model is constructed, and the coal winning machine is controlled based on the control module. For example, the coal winning machine cutting curve is extracted from the mining data model, the fully mechanized working face data is obtained to update the coal winning machine cutting curve, and the updated cutting curve is sent to the coal winning machine control center to control the coal winning machine to carry out coal mining. However, this method cannot update the geographic information in real time by using geophysical prospecting and drilling technology, so the cutting data cannot be updated in real time, resulting in control lag. SUMMARY

[0003] The present application provides a coal winning machine control method, device, equipment and storage medium based on trajectory tracking, which solves the problem that the traditional method of constructing 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 application provides a coal winning machine control method based on trajectory tracking, comprising:

[0005] Extracting a coal winning process planning path, the path including a starting point of each planning stage;

[0006] Real-time acquisition of coal winning machine operation data; calculating the theoretical turning angle required for the front shoe to reach the starting point of each planning stage according to the coal winning machine operation data;

[0007] Real-time acquisition of support pusher stroke, calculating the offset angle of the scraper conveyor according to the support pusher stroke, and taking the offset angle of the scraper conveyor as the actual turning angle;

[0008] Combining the theoretical turning angle and the actual turning angle to obtain the optimal traction speed of the coal winning machine and the angle required for the scraper to adjust.

[0009] The application provides a coal mining machine control method based on trajectory tracking, the coal mining machine operation data includes the coal mining machine position, the heading angle and the coal mining machine front and rear shoe distance, the theoretical turning angle required by the front shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data, and the method comprises the following steps of:

[0010] The coal mining machine rear shoe position is calculated according to the coal mining machine position, the heading angle and the coal mining machine front and rear shoe distance;

[0011] The theoretical turning angle required by the front shoe is calculated according to the coal mining machine rear shoe position, the coal mining machine heading angle, the coal mining machine current speed and the starting point of each planning stage.

[0012] The application provides a coal mining machine control method based on trajectory tracking, the support pushing stroke comprises a first pushing stroke of the support closest to the coal mining machine front shoe and a second pushing stroke of the support at a distance reaching the rear shoe distance from the front shoe, the offset angle of the scraper conveyor is calculated according to the support pushing stroke, and the offset angle of the scraper conveyor is taken as the actual turning angle, and the method comprises the following steps of:

[0013] The actual turning angle of the coal mining machine front shoe is calculated according to the first pushing stroke and the second pushing stroke.

[0014] The application provides a coal mining machine control method based on trajectory tracking, the optimal traction speed of the coal mining machine and the angle required by the scraper to be adjusted are obtained by combining the theoretical turning angle and the actual turning angle, and the method comprises the following steps of:

[0015] When the difference between the theoretical turning angle and the actual turning angle is lower than a preset left inclination threshold value, the angle required by left inclination to be adjusted is calculated, the corresponding stroke of the left support pushing oil cylinder is shortened according to the angle required by left inclination to be adjusted, and the corresponding stroke of the right oil cylinder is increased;

[0016] When the difference between the theoretical turning angle and the actual turning angle is higher than a preset right inclination threshold value, the angle required by right inclination to be adjusted is calculated, the corresponding stroke of the left support pushing oil cylinder is increased according to the angle required by left inclination to be adjusted, and the corresponding stroke of the right oil cylinder is shortened.

[0017] The application provides a coal mining machine control method based on trajectory tracking, the optimal traction speed of the coal mining machine and the angle required by the scraper to be adjusted are obtained by combining the theoretical turning angle and the actual turning angle, and the method comprises the following steps of:

[0018] The average value of the first speed corresponding to the theoretical turning angle and the second speed corresponding to the actual turning angle is taken as the coal mining machine planning speed;

[0019] The coal machine planning speed is compared with the current speed of the coal machine, if the coal machine planning speed is lower than the current speed of the coal machine, the speed of the coal machine is directly controlled to the coal machine planning speed, if the coal machine planning speed is higher than the current speed of the coal machine, whether the speed of the coal machine is increased is controlled according to the running data of the coal machine.

[0020] The application further provides a coal machine control device based on trajectory tracking, comprising:

[0021] An extraction module is configured to extract a coal mining process planning path, the path comprising a starting point of each planning stage;

[0022] A first calculation module is configured to acquire running data of the coal machine in real time, and calculate a theoretical turning angle required by a front shoe when reaching the starting point of each planning stage according to the running data of the coal machine;

[0023] A second calculation module is configured to acquire a support pushing stroke in real time, and calculate an offset angle of a scraper conveyor according to the support pushing stroke, and take the offset angle of the scraper conveyor as an actual turning angle;

[0024] An acquisition module is configured to acquire an optimal traction speed of the coal machine and an angle required by the scraper to be adjusted in combination with the theoretical turning angle and the actual turning angle.

[0025] According to the coal machine control device based on trajectory tracking, the acquisition module comprises an angle required by the scraper to be adjusted acquisition unit, which is configured to:

[0026] When the difference between the theoretical turning angle and the actual turning angle is lower than a preset left inclination threshold value, an angle required by left inclination to be adjusted is calculated, and the corresponding stroke of the left support pushing cylinder is shortened and the corresponding stroke of the right cylinder is increased according to the angle required by the left inclination to be adjusted;

[0027] When the difference between the theoretical turning angle and the actual turning angle is higher than a preset right inclination threshold value, an angle required by right inclination to be adjusted is calculated, and the corresponding stroke of the left support pushing cylinder is increased and the corresponding stroke of the right cylinder is shortened according to the angle required by the left inclination to be adjusted.

[0028] According to the coal machine control device based on trajectory tracking, the acquisition module comprises an optimal traction speed acquisition unit, which is configured to:

[0029] The average value of the first speed corresponding to the theoretical turning angle and the second speed corresponding to the actual turning angle is taken as the coal machine planning speed;

[0030] The coal machine planning speed is compared with the current speed of the coal machine, if the coal machine planning speed is lower than the current speed of the coal machine, the speed of the coal machine is directly controlled to the coal machine planning speed, if the coal machine planning speed is higher than the current speed of the coal machine, whether the speed of the coal machine is increased is controlled according to the running data of the coal machine.

[0031] The application further provides an electronic device, comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the trajectory tracking based control method of a coal machine according to any one of the above when executing the program.

[0032] The application further provides a non-transitory computer readable storage medium, which stores a computer program, wherein the computer program is executable on a processor to implement the trajectory tracking based control method of a coal machine according to any one of the above.

[0033] The application provides a trajectory tracking based control method of a coal machine, device, equipment and storage medium, wherein a coal mining process planning path is extracted, the path comprises a starting point of each planning stage and a pushing degree in the direction of a parallel working face; running data of the coal machine is acquired in real time; a theoretical turning angle required by a front shoe when reaching the starting point of each planning stage is calculated according to the running data of the coal machine; a support pushing distance is acquired in real time, and an offset angle of a scraper conveyor is calculated according to the support pushing distance, and the offset angle of the scraper conveyor is taken as an actual turning angle; the optimal traction speed of the coal machine and the angle required by the scraper to be adjusted are acquired in combination with the theoretical turning angle and the actual turning angle, without the need of constructing a model in advance, so that dynamic real-time control can be realized, and the coal machine is more stably operated on the scraper under the premise of controlling the coal machine on the path planning. BRIEF DESCRIPTION OF DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0035] Figure 1 is a flowchart of the trajectory tracking based control method of a coal machine provided by the embodiments of the present application;

[0036] Figure 2 is a schematic diagram of the relationship between the coal machine tracking trajectory process and the scraper conveyor provided by the embodiments of the present application;

[0037] Figure 3 is a schematic diagram of the pure tracking algorithm principle provided by the embodiments of the present application;

[0038] Figure 4 is a schematic diagram of the function structure of the coal mining machine control device based on trajectory tracking provided by the embodiment of the present application;

[0039] Figure 5 is a schematic diagram of the function structure of the electronic device provided by the embodiment of the present application. DETAILED DESCRIPTION

[0040] To make the objectives, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be described clearly and completely below in conjunction with the drawings in the present application. Obviously, the described embodiments are some embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0041] Figure 1 The flow chart of the coal mining machine control method based on trajectory tracking provided by the embodiment of the present application is shown in Figure 1 The coal mining machine control method based on trajectory tracking provided by the embodiment of the present application comprises:

[0042] Step 101, extracting a coal mining process planning path, the path comprising a starting point of each planning stage;

[0043] In the embodiment of the present application, the path comprises a starting position (parallel working face direction x) and a pushing degree (vertical working face direction y) of each planning stage; the pushing degree specifies the specific distance of the coal mining machine moving along the direction perpendicular to the working face (i.e. the y-axis direction). By setting different pushing degree values, the depth and width of the coal mining machine cutting the coal seam can be accurately controlled, thereby defining the specific position and range of each cutting. The accurate control of the pushing degree helps to ensure that the coal seam is uniformly cut. This not only improves the recovery rate of coal, but also reduces unnecessary waste of resources. By adjusting the pushing degree of each cutting, the coal mining machine can be cut according to the predetermined thickness, avoiding excessive or insufficient cutting, thereby improving the mining efficiency and coal quality.

[0044] Step 102, acquiring real-time coal mining machine operation data; calculating the theoretical turning angle required for the front shoe to reach the starting point of each planning stage according to the coal mining machine operation data;

[0045] Step 103, acquiring the support pushing process in real time; calculating the offset angle of the scraper conveyor according to the support pushing process, and taking the offset angle of the scraper conveyor as the actual turning angle;

[0046] In the embodiment of the present application, the coal mining machine heading angle , the coal mining machine position , and the speed The planned path including the advancing degree is extracted from the coal mining process, the data source singularity is improved and the method reliability is increased in combination with the scraper shape (support pushing cylinder stroke) data and the lasc inertial navigation system data, the inertial navigation system heading angle and the scraper shape are comprehensively considered in combination with the coal mining machine inertial navigation system lasc.

[0047] In step 104, the optimal traction speed of the coal mining machine and the angle required for adjustment of the scraper are acquired in combination with the theoretical turning angle and the actual turning angle.

[0048] In the embodiment of the present application, the coal machine running parameters are adjusted between the fixed scraper shape and the planned path, so that the coal machine walking is more stable. According to the next planned point of the coal machine, the coal machine walking speed is adjusted, and the best path tracking effect can be ensured.

[0049] The main function of the coal mining machine shoe is support and guidance, not turning, and the advancing track is directly affected by the front conveyor shape. The actual coal machine tracking track process can be converted into the planning of the scraper conveyor shape, and the conversion relationship is as shown in Figure 2 The planned point is the target position that the coal mining machine needs to reach. The theoretical turning angle (α) is the ideal turning angle calculated according to the current position and the next planned point. The actual turning angle is the actual deflection angle based on the current position and posture of the scraper conveyor. The support pushes the cylinder to control the shape of the scraper conveyor. The pushing cylinder under each support can be extended and retracted, thereby adjusting the shape of the scraper conveyor. The main function of the front shoe and the rear shoe is support and guidance. The advancing track of the coal mining machine is mainly determined by the shape of the scraper conveyor.

[0050] 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 machine cutting curve is extracted from the mining data model, the coal mining machine cutting curve is updated based on the fully mechanized working face data, and the updated cutting curve is issued to the coal mining machine control center to control the coal mining machine to carry out coal mining operation. But this method cannot update the geographic information in real time by using geophysical prospecting and drilling technology, so the cutting data cannot be updated in real time, which leads to control lag.

[0051] The coal mining machine control method based on trajectory tracking provided by the embodiment of the application extracts a coal mining process planning path, the path including a starting point of each planning stage and a pushing degree in the direction of a parallel working face; real-time coal mining machine operation data is acquired; a required theoretical turning angle of a front shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data; an offset angle of a scraper conveyor is calculated according to the support pushing degree, and the offset angle of the scraper conveyor is taken as an actual turning angle; and the optimal traction speed of the coal mining machine and the angle required for adjusting the scraper are acquired in combination with the theoretical turning angle and the actual turning angle, so that dynamic real-time control can be realized without constructing a model in advance, and the coal mining machine is more stably operated on the scraper under the premise of path planning.

[0052] According to any one of the above embodiments, the coal mining machine operation data includes a coal machine position, a heading angle and a distance between front and rear shoes of the coal machine, and the required theoretical turning angle of the front shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data, including:

[0053] Step 201: calculating the position of the rear shoe of the coal machine according to the coal machine position, the heading angle and the distance between front and rear shoes of the coal machine;

[0054] Step 202: calculating the required theoretical turning angle of the front shoe according to the starting point of each planning stage, the position of the rear shoe of the coal machine, the heading angle of the coal machine and the current speed of the coal machine.

[0055] The theoretical turning angle is calculated based on a pure tracking algorithm. The pure tracking algorithm is based on the driving habit of human beings, and a tail preview point at a certain distance from the current position of the vehicle is selected on the trajectory, and the turning angle of the front wheel is adjusted to control the vehicle to drive along the expected trajectory to the preview point.

[0056] Coal mining machine walking principle: in the fully mechanized working face, the coal mining machine actually works on the front conveyor of the working face by four shoes, two shoes on the coal wall side are supported on the coal shovel plate of the scraper conveyor, and two shoes on the goaf are supported on the slot side of the scraper conveyor, and play a guiding role, so that the coal machine does not deviate from the track. The pure tracking algorithm is introduced into the operation process of the coal mining machine, and the algorithm is described as follows: based on the center position of the rear shoe of the coal mining machine, a planning point is matched on the planning path path at a distance from the center position of the rear shoe of the coal mining machine , and the center position of the rear shoe of the coal mining machine can drive to the preview point according to a certain turning radius . The relationship between the preview point distance , the turning radius and the heading angle of the machine body of the preview point in the working face coordinate system is used to determine the angle required for adjusting the coal machine through the planning point Steering angle required by front shoe theory , called steering angle of shoe theory, as shown in : Figure 3

[0057] △AOC is an isosceles triangle, in △AOB, AB⊥OA, then

[0058]

[0059] In order to make the rear shoe of the shearer track the planning point , in △AOC, the sine theorem needs to be met:

[0060] =》

[0061] In the above formula, is the turning radius, and the curvature is expressed as:

[0062]

[0063] The simplified shearer model meets Ackerman steering geometry, in △AOB

[0064]

[0065] Therefore, the final expression of the control quantity of the shearer tracking algorithm is as follows:

[0066]

[0067] In the above formula, is the distance between the front and rear shoes of the shearer, and the distance from the planning point to the rear shoe is , is the angle between the planning point and the shearer body (heading angle). Considering the time factor, the forward-looking distance is related to the speed. Expressing the forward-looking distance as a linear function of the speed is , and the relationship is rearranged as:

[0068]

[0069] In the case of knowing the angle between the shearer body and the planning point at time and the forward-looking distance from the target point, the lateral error of the shearer body and the planning point is assumed to be , and the lateral error is defined as the distance from the planning point to the shearer:

[0070]

[0071] Then the curvature can be expressed as​​​

[0072] .

[0073] because yes Given the lateral tracking error (CTE) in the direction, the above formula shows that the algorithm can be viewed as a P controller. The P coefficient is... Then the P controller is affected by the forward sight distance. The impact is significant; the trajectory tracking performance is determined by the forward sight distance.

[0074] Calculating the rear slipper of the coal mining machine The position is represented as follows:

[0075]

[0076] Set planning points from the planned path Combined with the position of the rear slipper of the coal mining machine Coal mining machine heading angle And the "theoretical steering angle" required for the slipper to calculate the current speed of the coal mining machine. ", which means as follows:

[0077]

[0078] In the formula, This is a velocity function.

[0079] Based on any of the above embodiments, the support advancing stroke includes: a first advancing stroke of the support closest to the front slipper of the coal mining machine and a second advancing stroke of the support at a distance from the front slipper reaching the distance from the rear slipper. The step of calculating the offset angle of the scraper conveyor based on the support advancing stroke and using the offset angle of the scraper conveyor as the actual steering angle includes:

[0080] The actual steering angle of the front slipper of the coal mining machine is calculated based on the first and second pushing strokes.

[0081] Let the distance from the front slipper of the coal mining machine to the nearest support's travel distance be denoted by the following formula: and distance to front ski boots The pushing stroke of the support Calculate the operating posture of the coal mining machine at the next position, which is abstracted as the "actual steering angle" of the front slipper of the coal mining machine. ", which means as follows:

[0082]

[0083] Converting to a velocity function, the formula is as follows:

[0084]

[0085] Will Substituting into the Pure Pursuit pure tracking algorithm, we get:

[0086]

[0087] Simplifying, we can derive the formula for calculating the rated speed function of the scraper conveyor, as shown below:

[0088]

[0089] velocity function calculated based on planning points Comparison,

[0090] because Difference in travel between the support and the propulsion stroke If they are very close, the effect of the velocity function can be ignored.

[0091] In this embodiment of the invention, a pure tracking algorithm is used to calculate the required steering angle of the coal mining machine's front slipper when it reaches the planned point, which is abstracted as the "theoretical steering angle". The offset angle of the scraper conveyor is calculated using the stroke of the support pushing cylinder, which is abstracted as the "actual steering angle" of the coal mining machine's slipper for the next step. Combining the "theoretical steering angle" and the "actual steering angle", the optimal traction speed of the coal mining machine and the required adjustment angle of the scraper are comprehensively calculated to adjust the operating posture of the coal mining machine, making the operation of the coal mining machine more stable.

[0092] Based on any of the above embodiments, the step of combining the theoretical steering angle and the actual steering angle to obtain the optimal traction speed of the coal mining machine and the required adjustment angle of the scraper includes:

[0093] When the difference between the theoretical steering angle and the actual steering angle is lower than the preset left tilt threshold, the angle that needs to be adjusted to the left tilt is calculated. Based on the angle that needs to be adjusted to the left tilt, the corresponding stroke of the left support push cylinder is shortened, while the corresponding stroke of the right cylinder is increased.

[0094] 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 to the right is calculated. Based on the angle that needs to be adjusted to the left tilt, the corresponding stroke of the left support push cylinder is increased, while the corresponding stroke of the right cylinder is shortened.

[0095] In this embodiment of the invention, adjusting the scraper conveyor configuration is required: near This involves adjusting the advance of the front support of the coal mining machine to change the shape of the scraper conveyor, thereby making the coal mining machine's trajectory smoother and closer to the planned path.

[0096] Based on any of the above embodiments, the combination of the theoretical steering angle and the actual steering angle obtains the optimal traction speed of the coal mining machine and the angle required for adjustment of the scraper, comprising:

[0097] The average value of the first speed corresponding to the theoretical steering angle and the second speed corresponding to the actual steering angle is taken as the coal machine planning speed;

[0098] The coal machine planning speed is compared with the current speed of the coal machine, if the coal machine planning speed is lower than the current speed of the coal machine, the coal mining machine is directly controlled to reduce speed to the coal machine planning speed, if the coal machine planning speed is higher than the current speed of the coal machine, whether the coal mining machine is speeded up is controlled according to the running data of the coal mining machine.

[0099] In the embodiment of the present application, the speed of the coal mining machine is adjusted: the same coefficient is set according to the actual situation Under the condition that , needs to meet , on the contrary, needs to meet . The average value and of the compromise solution is taken as the coal machine planning speed, combined with the current speed of the coal machine , if , the coal machine is directly controlled to reduce speed, on the contrary, the real-time running data of the coal mining machine is needed, and whether it is suitable to speed up under the current coal mining machine running state is comprehensively judged. In the embodiment of the present application, the real-time running data of the coal mining machine includes but is not limited to real-time basic running data such as coal mining machine traction current, temperature, etc.

[0100] The coal mining machine control method based on trajectory tracking provided by the embodiment of the present application combines the scraper shape (support push cylinder stroke) data and the lasc inertial navigation system data, improves the singleness of the data source, and increases the reliability of the method. The pure tracking algorithm is used to calculate the "theoretical steering angle" and "actual steering angle", and the running posture of the coal mining machine is adjusted from the coal machine speed and the scraper machine shape (coal mining machine heading). The safety of coal machine control is improved by using the priority judgment method. And it is easy to implement, and the occupation of computing resources is low.

[0101] The coal mining machine control device based on trajectory tracking provided by the embodiment of the present application is described below, and the coal mining machine control device based on trajectory tracking described below can be correspondingly referred to the coal mining machine control method based on trajectory tracking described above.

[0102] Figure 4 The structure diagram of the coal mining machine control device based on trajectory tracking provided by the embodiment of the present application is shown as shown in Figure 4 , the coal mining machine control device based on trajectory tracking provided by the embodiment of the present application comprises:

[0103] The extraction module 401 is configured to extract a coal mining process planning path, the path including a starting point of each planning stage and a pushing degree of a parallel working face direction;

[0104] The first calculation module 402 is configured to acquire real-time coal mining machine operation data, and calculate a theoretical turning angle required for a front shoe to reach the starting point of each planning stage according to the coal mining machine operation data;

[0105] The second calculation module 403 is configured to calculate an offset angle of a scraper conveyor according to the support pushing degree, and take the offset angle of the scraper conveyor as an actual turning angle;

[0106] The acquisition module 404 is configured to acquire an optimal traction speed of the coal mining machine and an angle required for adjustment of the scraper according to the theoretical turning angle and the actual turning angle.

[0107] In the embodiment of the present application, the acquisition module includes an angle required for adjustment of the scraper acquisition unit, which is configured to:

[0108] When the difference between the theoretical turning angle and the actual turning angle is lower than a preset left-inclination threshold value, the angle required for left-inclination adjustment is calculated, and the corresponding stroke of the left support pushing cylinder is shortened and the corresponding stroke of the right cylinder is increased according to the angle required for left-inclination adjustment;

[0109] When the difference between the theoretical turning angle and the actual turning angle is higher than a preset right-inclination threshold value, the angle required for right-inclination adjustment is calculated, and the corresponding stroke of the left support pushing cylinder is increased and the corresponding stroke of the right cylinder is shortened according to the angle required for left-inclination adjustment.

[0110] In the embodiment of the present application, the acquisition module includes an optimal traction speed acquisition unit, which is configured to:

[0111] The average value of a first speed corresponding to the theoretical turning angle and a second speed corresponding to the actual turning angle is taken as a coal machine planning speed;

[0112] The coal machine planning speed is compared with a current coal machine speed, if the coal machine planning speed is lower than the current coal machine speed, the coal mining machine is directly controlled to reduce speed to the coal machine planning speed, if the coal machine planning speed is higher than the current coal machine speed, the coal mining machine is controlled to increase speed according to the coal mining machine operation data.

[0113] The coal mining machine control device based on trajectory tracking provided by the embodiment of the application extracts a coal mining process planning path, the path including a starting point of each planning stage and a pushing degree in the direction of the parallel working face; real-time coal mining machine operation data is acquired; a theoretical turning angle required by the front shoe when reaching the starting point of each planning stage is calculated according to the coal mining machine operation data; an offset angle of the scraper conveyor is calculated according to the support pushing degree, and the offset angle of the scraper conveyor is taken as an actual turning angle; the optimal traction speed of the coal mining machine and the angle required by the scraper to be adjusted are acquired in combination with the theoretical turning angle and the actual turning angle, without the need of constructing a model in advance, so that dynamic real-time control can be realized, and the coal mining machine is more smoothly operated on the scraper under the premise of path planning.

[0114] Figure 5 An example of a schematic diagram of a physical structure of an electronic device is shown in Figure 5 The electronic device can include a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 complete mutual communication through the communications bus 540. The memory 530 includes a computer program, an operating system, and acquired data, and the processor 510 can call the logical instructions in the memory 530 to execute a coal mining machine control method based on trajectory tracking, the method including: extracting a coal mining process planning path, the path including a starting point of each planning stage and a pushing degree in the direction of the parallel working face; acquiring real-time coal mining machine operation data; calculating a theoretical turning angle required by the front shoe when reaching the starting point of each planning stage according to the coal mining machine operation data; calculating an offset angle of the scraper conveyor according to the support pushing degree, and taking the offset angle of the scraper conveyor as an actual turning angle; and acquiring the optimal traction speed of the coal mining machine and the angle required by the scraper to be adjusted in combination with the theoretical turning angle and the actual turning angle.

[0115] In addition, the logic instructions in the memory 530 described above can be implemented in the form of a software function unit and sold or used as an independent product, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that contribute to the related art or parts of the technical solutions can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the method described in various embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0116] In another aspect, the present application also provides a non-transitory computer readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a shearer control method based on trajectory tracking provided by the above method, the method comprising: extracting a coal mining process planning path, the path comprising a starting point of each planning stage and a pushing degree in the direction of the parallel working face; acquiring real-time shearer operation data; calculating a required theoretical turning angle of the front shoe when reaching the starting point of each planning stage according to the shearer operation data; calculating an offset angle of the scraper conveyor according to the support pushing degree, and taking the offset angle of the scraper conveyor as an actual turning angle; and combining the theoretical turning angle and the actual turning angle to obtain an optimal traction speed of the shearer and an angle required for adjustment of the scraper.

[0117] The device embodiments described above are only schematic, wherein the units illustrated as separate components can or can not be physically separated, and the components illustrated as units can or can not be physical units, i.e., can be located in one place, or can be distributed on a plurality of network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the present embodiment. Those skilled in the art can understand and implement without creative labor.

[0118] Those skilled in the art can clearly understand the implementation of the various embodiments by means of software and the necessary general hardware platform from the above description of the embodiments, and of course, the embodiments can also be implemented by hardware. Based on such understanding, the above technical solutions or the part that contributes to the related art 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 a ROM / RAM, a magnetic disk, an optical disk, and the like, and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.

[0119] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A coal mining machine control method based on trajectory tracking, characterized in that, include: Extract the coal mining process planning path, the path including the starting point of each planning stage; Real-time acquisition of coal mining machine operation data; calculation of the theoretical steering angle required for the front slipper to reach the starting point of each planning stage based on the coal mining machine operation data. The support propulsion stroke is acquired in real time, and the offset angle of the scraper conveyor is calculated based on the support propulsion stroke. The offset angle of the scraper conveyor is then used as the actual steering angle. The optimal traction speed of the coal mining machine and the required adjustment angle of the scraper are obtained by combining the theoretical steering angle and the actual steering angle. The support advancing stroke includes: a first advancing stroke of the support closest to the front slipper of the coal mining machine and a second advancing stroke of the support when the distance from the front slipper reaches the distance from the rear slipper. The calculation of the scraper conveyor's offset angle based on the support advancing stroke, and using the scraper conveyor's offset angle as the actual steering angle, includes: Calculate the actual steering angle of the front slipper of the coal mining machine based on the first and second push strokes; The process of combining the theoretical steering angle and the actual steering angle to obtain the optimal traction speed of the coal mining machine and the required adjustment angle of the scraper includes: When the difference between the theoretical steering angle and the actual steering angle is lower than the preset left tilt threshold, the angle that needs to be adjusted to the left tilt is calculated. Based on the angle that needs to be adjusted to the left tilt, the corresponding stroke of the left support push cylinder is shortened, 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 a preset right tilt threshold, the angle that needs to be adjusted to the right is calculated. Based on the angle that needs to be adjusted to the right, the corresponding stroke of the left support push cylinder is increased, while the corresponding stroke of the right cylinder is shortened.

2. The coal mining machine control method based on trajectory tracking according to claim 1, characterized in that, The coal mining machine's operating data includes the machine's position, heading angle, and the distance between the machine's front and rear slippers. Based on this operating data, the theoretical turning angle required for the front slipper to reach the starting point of each planning stage is calculated, including: The position of the rear slipper of the coal mining machine is calculated based on the coal mining machine's position, heading angle, and the distance between the front and rear slippers. Based on the starting point of each planning stage, the theoretical turning angle required for the front slipper is calculated by combining the position of the rear slipper of the coal mining machine, the heading angle of the coal mining machine, and the current speed of the coal mining machine.

3. The coal mining machine control method based on trajectory tracking according to claim 1, characterized in that, The process of combining the theoretical steering angle and the actual steering angle to obtain the optimal traction speed of the coal mining machine and the required adjustment angle of 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 taken as the planned speed of the coal mining machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed is lower than the current speed, the coal mining machine is directly controlled to slow down to the planned speed. If the planned speed is higher than the current speed, the coal mining machine is controlled to increase its speed based on its operating data.

4. A coal mining machine control device based on trajectory tracking, characterized in that, include: An extraction module is used to extract the coal mining process planning path, the path including the starting point of each planning stage; The first calculation module is used to acquire coal mining machine operation data in real time; Calculate the theoretical steering angle required for the front slipper to reach the starting point of each planning stage based on the coal mining machine's operating data; The second calculation module is used to obtain the support propulsion stroke in real time, calculate the offset angle of the scraper conveyor based on the support propulsion stroke, 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 and 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. The acquisition module includes: a scraper adjustment angle acquisition unit, configured as follows: When the difference between the theoretical steering angle and the actual steering angle is lower than the preset left tilt threshold, the angle that needs to be adjusted to the left tilt is calculated. Based on the angle that needs to be adjusted to the left tilt, the corresponding stroke of the left support push cylinder is shortened, 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 a preset right tilt threshold, the angle that needs to be adjusted to the right is calculated. Based on the angle that needs to be adjusted to the right, the corresponding stroke of the left support push cylinder is increased, while the corresponding stroke of the right cylinder is shortened.

5. The coal mining machine control device based on trajectory tracking according to claim 4, characterized in that, 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 taken as the planned speed of the coal mining machine; The planned speed of the coal mining machine is compared with the current speed of the coal mining machine. If the planned speed is lower than the current speed, the coal mining machine is directly controlled to slow down to the planned speed. If the planned speed is higher than the current speed, the coal mining machine is controlled to increase its speed based on its operating data.

6. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the coal mining machine control method based on trajectory tracking as described in any one of claims 1 to 3.

7. A non-transitory readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the coal mining machine control method based on trajectory tracking as described in any one of claims 1 to 3.

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