Coal cutting path intelligent control system based on multi-algorithm fusion and closed-loop control

Abstract

The invention discloses a coal cutting path intelligent control system and method based on multi-algorithm fusion and closed-loop control. The system and method are suitable for working face coal cutting operation under the complex coal rock interface condition. The system is composed of a signal receiving and transmitting module, a data processing module, a path determination module and a path execution control module. And performing initial path group evolution through a genetic algorithm, fusing particle swarm optimization to accelerate global convergence, and introducing a dual-stage simulated annealing mechanism to perform local disturbance optimization to obtain a high-fitness coal cutting path. On the basis, path continuity processing is realized by adopting a cubic B spline. And in combination with the actual running state of the coal cutter, the path execution control module judges the path slope change, the interference signal and the coal cutting node position in real time, and equipment start and stop and path switching are controlled. The method gives consideration to path optimization quality and execution stability, has good adaptability and engineering implementability, and is suitable for intelligent coal mining tasks in various complex coal seam geological environments.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mining, and specifically to an intelligent coal cutting path control system based on multi-algorithm fusion and closed-loop control, which is suitable for the coal cutting path fitting, execution control and dynamic regulation process of drum-type coal mining equipment under complex coal-rock interface conditions. Background Art

[0002] With the continuous advancement of intelligent coal mining, drum shearers, as core mining equipment, are facing higher requirements in terms of path control accuracy and operational adaptability. In traditional coal mining, the traditional coal cutting path is often manually planned based on operational experience or preliminary surveying models. This makes it difficult to achieve real-time perception of the coal-rock structure and online path control. This is especially true when the coal-rock interface is complex and changing. This can easily lead to problems such as miscuts, empty cuts, and delayed drum posture adjustment, impacting production efficiency and equipment safety.

[0003] Existing research has attempted to introduce intelligent optimization algorithms for path fitting and optimization. Path optimization methods based on genetic algorithms and particle swarm optimization, for example, have been shown to improve path accuracy and convergence speed to a certain extent. However, single optimization strategies are prone to falling into local optimality, unstable convergence accuracy, or poor adaptability to boundary constraints. These strategies are unable to meet the multi-dimensional requirements for path globality, continuity, and engineering feasibility in complex coal seam structures.

[0004] Furthermore, after path generation, existing path control systems mostly employ fixed trajectory-following strategies, lacking mechanisms for determining path feasibility and dynamic start-stop control based on real-time sensor feedback. This inability to respond promptly increases the risk of misoperation when path slope exceeds limits or when coal cutting equipment lacks the ability to adjust its posture. This is especially true when encountering sudden changes in coal rock structure or signal anomalies during execution. Existing systems lack segment-level adjustment and re-optimization capabilities, making intelligent path recovery during continuous operation impossible.

[0005] Therefore, it is urgent to propose a coal cutting path generation method that integrates the collaborative work of multiple optimization algorithms, combines a path executable evaluation mechanism based on multi-parameter perception judgment, and establishes dynamic control and automatic start-stop linkage logic at the path segment level to improve the path generation accuracy, execution stability and operation safety of the drum coal shearer under complex working conditions. Summary of the Invention

[0006] In order to overcome the above-mentioned defects of the prior art, the purpose of the present invention is to provide an intelligent coal cutting path control system based on multi-algorithm fusion and closed-loop control, so as to solve the technical problems in the existing intelligent optimization algorithm during path fitting and optimization, such as the easy falling into local optimality, unstable convergence accuracy or poor adaptability to boundary constraints due to the use of a single optimization strategy, and the lack of adjustment and re-optimization capabilities at the path segment level in the existing system, which makes it impossible to achieve intelligent path recovery during continuous operation.

[0007] To achieve the above objectives, the present invention provides a path intelligent control system for a drum-type coal cutting equipment, comprising:

[0008] The signal transceiver module is used to send multiple sets of electromagnetic wave signals to different heights of the working surface through the transmitting unit installed on the hydraulic support, and obtain the echo signals reflected by the coal-rock interface through the receiving unit; calculate the coal-rock interface coordinate point set based on the reflected electromagnetic wave signals;

[0009] A data processing module is used to receive the point set and construct and evolve an initial path group through a genetic algorithm. On this basis, a particle swarm optimization strategy is introduced to perform group search convergence, and a simulated annealing algorithm is further combined to perform perturbation fine-tuning in the local solution space to obtain a coal cutting path solution with high fitness;

[0010] A path determination module is used to perform cubic B-spline interpolation processing on the optimized path to construct a continuous coal cutting trajectory that meets the drum operation characteristics requirements;

[0011] The path execution control module is used to determine whether the current path is executable based on the current position of the coal cutter, the drum posture parameters, and the slope change of the target path. When the slope exceeds the limit or the interference signal is abnormal, the control device automatically starts and stops or switches the path segment to achieve dynamic regulation and adaptive control during the path execution process.

[0012] According to the above aspect and any possible implementation, an implementation is further provided, wherein the signal transceiver module includes:

[0013] The transmitting unit is used to be installed on the hydraulic support and emit multiple sets of electromagnetic wave signals with different frequencies to the working surface according to the preset transmitting angle and height distribution;

[0014] The receiving unit is used to collect the echo signal reflected from the coal-rock interface and record the corresponding reflection intensity, propagation time and receiving angle;

[0015] The calculation unit is used to calculate the distance value from each measuring point to the support according to the propagation time, combine the known position of the launch point, form the two-dimensional point set coordinates of the working face, and extract the stable coal-rock interface contour point set.

[0016] According to the above aspect and any possible implementation, an implementation is further provided, wherein the computing unit includes:

[0017] Time difference conversion is used to record the emission time of the electromagnetic wave signal and its echo reception time, and calculate the distance value from each measuring point to the hydraulic support based on the electromagnetic wave propagation speed in the coal rock medium;

[0018] Coordinate point generation is used to convert the distance value of each emission point into a two-dimensional point set coordinate (x, y) in the working face coordinate system, where x is the position of the working face sampling point and y is the corresponding coal-rock interface height.

[0019] According to the above aspect and any possible implementation, further provided is an implementation, wherein the data processing module includes:

[0020] The genetic algorithm unit is used to receive the coal-rock interface point set, and uses the path fitting accuracy, smoothness and slope constraints as fitness indicators to construct the initial path population and perform intergenerational evolution to obtain the local optimal path solution;

[0021] The particle swarm optimization unit uses the local optimal path solution as the initial particle and performs multiple rounds of global search through the collaborative iteration of individual optimal and group optimal to further optimize the path;

[0022] If the path fitness meets the threshold, the current path is output as the coal-rock interface optimization path point set;

[0023] Otherwise, the current path is input into the genetic algorithm unit and the particle swarm optimization unit as a new population, and the above iterative process is repeated until the convergence condition is met;

[0024] The simulated annealing unit performs two-stage perturbation optimization on the final path result, perturbing the result through the annealing temperature, jumping local extreme points, and outputting a path point set result that meets the accuracy and continuity requirements for the path determination module to perform interpolation construction processing.

[0025] According to the above aspect and any possible implementation, further provided is an implementation, wherein the path determination module includes:

[0026] The interpolation construction unit is used to fit the discrete path point set output by the path optimization module using the cubic B-spline interpolation method to ensure that the path is continuous and differentiable within the coal cutter operation range;

[0027] The curve smoothing control unit is used to limit the slope variation range between the control points of the spline function and to impose smoothness constraints on the curvature of the fitting path to avoid oscillation or sudden angle changes in the connection section of the trajectory;

[0028] The output generation unit is used to output the coal cutting trajectory curve that meets the requirements of the smoothness of the drum posture change, and provide it to the path execution control module for subsequent real-time trajectory tracking.

[0029] In the above aspect and any possible implementation, further provided is an implementation, wherein the path execution control module includes a path executable determination unit configured to determine in real time before and during path execution whether the generated path satisfies the device controllable operation conditions, the path executable determination unit including:

[0030] Detect the slope change of each path segment. If the path curvature or slope exceeds the allowable range of roller posture adjustment, it will be marked as an unexecutable segment.

[0031] The feasibility of the path segment at the current position is evaluated based on the current position of the coal cutter and the drum angle adjustment capability;

[0032] If any of the conditions is not met, the system determines that the current path segment cannot be executed and outputs a pause control signal and a path switching instruction preparation state.

[0033] According to the above aspects and any possible implementation, an implementation is further provided, wherein the path execution control module further includes an automatic start-stop control unit, which is configured to implement intelligent start-stop control at the path segment level based on the path executable determination result and the coal cutter operating state. The specific control logic of the automatic start-stop control unit includes:

[0034] When the path judgment result is executable and the current posture parameters of the roller are within the adjustable range, the execution start signal is triggered to start the execution process of the path segment;

[0035] When the path judgment result is unexecutable, or when a sudden change in slope or approaching of attitude limit is detected during path execution, a pause instruction is issued to control the coal cutter to enter a safe stop state.

[0036] In the stopped cutting state, the control system enters the path segment switching preparation state, waiting for the path determination module to provide the next feasible trajectory;

[0037] If no alternative path segment is obtained within a certain period of time, the path back-off and obstacle avoidance strategy will be executed to ensure the safety of the roller and tool.

[0038] According to the above aspects and any possible implementation, there is further provided an implementation, wherein the path execution control module further includes a path segment switching unit, a local re-optimization unit, and a switching control unit, configured to dynamically switch path segments and perform local re-optimization when a path is not executable or execution is interrupted;

[0039] The path segment switching unit is used to retrieve adjacent path segments or preset redundant paths from the generated paths for fast matching according to the current position of the coal cutter after the path execution is paused;

[0040] The local re-optimization unit is used to call the data processing module to perform local path reconstruction and rapid optimization processing on the path segment that cannot be directly switched based on the current position and the starting point of the segment to be executed;

[0041] The switching control unit is used to determine the executability of the new path segment after the fitting is completed. If the conditions are met, the execution is automatically continued; if not, the cutting state is retained and a path abnormality prompt signal is sent to the upper system.

[0042] According to the above aspects and any possible implementation, an implementation is further provided, wherein the path segment switching unit includes a path priority sorting unit and a cache path retrieving unit, and its operation process is as follows:

[0043] The path priority sorting unit is used to score the currently unexecuted path segments in the system memory in real time, and the scoring is based on the Euclidean distance between the starting point of the path segment and the current position and the overall slope stability index of the path segment;

[0044] The cache path retrieval unit is used to select the optimal path segment as a candidate switching path according to the sorting result, and perform slope continuity verification with the current position to ensure the connectability of the path segment;

[0045] If the switching condition is met, the control system immediately enters the path segment switching state, otherwise it retains the current pause state.

[0046] According to the above aspects and any possible implementation, an implementation is further provided, wherein the local re-optimization unit includes a boundary fixing unit and a disturbance fine-tuning unit, and its working logic is as follows:

[0047] The boundary fixing unit is used to lock the two end points of the path between the actual position of the current device and the target connection point of the path segment as the boundary condition of the path optimization;

[0048] The perturbation fine-tuning unit is used to call the simulated annealing algorithm in the data processing module based on the path point set within the fixed boundary, and fine-tune the path curve in a small-scale perturbation manner, focusing on optimizing the curvature continuity and the consistency of the connection slope.

[0049] Compared with the prior art, the present invention achieves the following beneficial effects:

[0050] The present invention introduces a combined intelligent optimization algorithm and an automatic start-stop control mechanism into the path control strategy, significantly improving the fitting accuracy, execution stability, and system intelligence level of the coal cutting path. Specifically, the following are achieved:

[0051] First, the coordinate point set of the coal-rock interface of the working face is collected through the signal transceiver module. The data processing module uses the collaborative mechanism of genetic algorithm, particle swarm optimization and simulated annealing algorithm to progressively optimize the path from rough construction to fine adjustment. This not only effectively reduces fitting errors and curvature mutations, but also generates a trajectory path with good continuity and smooth slope while retaining the original interface contour features. Secondly, the designed path execution control module has the ability to evaluate the executable nature of path segments, judge posture deviations, and automatically start and stop control under abnormal conditions. It can adapt to different geological structures and mining conditions, realize autonomous correction and breakpoint continuation during path execution, and reduce the frequency of manual intervention. Finally, the entire system has a high degree of engineering deployability and adaptability. It can dynamically adjust the control strategy according to the current status of the drum and feedback from the working face. It is suitable for intelligent coal mining operations in complex environments such as variable coal-rock interfaces, drastic slope changes, or frequent interference signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The above and other features, advantages and aspects of the embodiments of the present disclosure will become more apparent with reference to the following detailed description in conjunction with the accompanying drawings. The accompanying drawings are provided for a better understanding of the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, among which:

[0053] Figure 1 1 is a block diagram of an intelligent control system for coal cutting paths based on multi-algorithm fusion and closed-loop control according to an embodiment of the present invention;

[0054] Figure 2 This is a specific block diagram of a signal transceiver module in an embodiment of the present invention;

[0055] Figure 3 This is a processing flow chart of the combined intelligent algorithm in the path optimization method according to an embodiment of the present invention;

[0056] Figure 4 It is the dynamic start-stop logic flow chart of the path execution control module;

[0057] Figure 5 This is a detailed block diagram of the path execution control module. DETAILED DESCRIPTION

[0058] To make the purpose, technical solutions, and advantages of the embodiments of the present disclosure more clear, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0059] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Figure 1 This is a block diagram of an intelligent coal cutting path control system based on multi-algorithm fusion and closed-loop control according to an embodiment of the present invention. To implement a drum coal cutting path control method based on a combined intelligent algorithm and an automatic start-stop mechanism, this embodiment provides a path control system with a complete structure, closed-loop operation, and real-time response. Specifically, this embodiment of the present invention provides an intelligent coal cutting path control system 100 based on multi-algorithm fusion and closed-loop control. Functionally, it comprises four modules: a signal transceiver module 101, a data processing module 102, a path determination module 103, and a path execution control module 104.

[0061] Optionally, in some embodiments, the signal transceiver modules 101 are deployed on multiple hydraulic supports on the coal mining face, arranged in rows along the length of the face to form a high-density information collection network. Each module includes a transmitting unit 1011, a receiving unit 1012, and a computing unit 1013.

[0062] Transmitting unit 1011 uses a directional electromagnetic wave antenna array to transmit electromagnetic signals at a preset transmission angle θ toward the coal-rock interface ahead. During each transmission, the system records the transmission time t1. Receiving unit 1012 collects the reflected echo signal and records the reception time t2, signal strength S, and angle information θ. The system uses the propagation time difference Δt = t2 - t1 as a calculation basis, combined with the propagation velocity v in the coal-rock medium, to determine the radial distance D between the reflection point and the support:

[0063] D=v×Δt

[0064] To convert this distance into point information in the two-dimensional coordinate system of the coal mining face, the system introduces the coordinates of the hydraulic support body (x0, y0) and, combined with the current emission angle θ, performs a projection calculation from polar coordinates to rectangular coordinates to obtain the coordinates of the reflection point (x, y):

[0065] x=x0+D×cos(θ)

[0066] y=y0+D×sin(θ)

[0067] The above process is carried out simultaneously at each support, and multi-point parallel detection can be completed in a short time. The system finally constructs a two-dimensional coordinate point set covering the coal-rock interface of the entire working face, providing basic data support for the subsequent path optimization module.

[0068] Optionally, in some embodiments, the data processing module 102 includes a genetic algorithm unit, a particle swarm algorithm unit, and a simulated annealing unit.

[0069] Specifically, the genetic algorithm performs population evolution operations, including selection, crossover, and mutation. Individual selection is performed using a roulette wheel method. A single-point crossover strategy is employed, swapping only intermediate path nodes. Mutation is applied only to intermediate nodes, introducing small perturbations to adjust the height values y(i). The path individuals with the highest fitness are retained in each generation. The algorithm iterates generation after generation until convergence, outputting a candidate path with high fitting accuracy and stability. Furthermore, a particle swarm optimization algorithm is employed, using the height sequence as the position vector and the perturbation direction as the velocity vector. Inertia weights and learning factors are used to continuously adjust the particle states and output a further optimized path. Finally, a two-stage simulated annealing algorithm is employed to further improve the local quality of the path and prevent it from falling into local extremes. This achieves adaptive perturbation and quality improvement within the local space, ultimately outputting a coal cutting path with optimal overall performance.

[0070] Among them, the fitness function used in the combination algorithm is:

[0071]

[0072] Where M is the actual coal cutting amount, C(x) is the coal cutting path of the upper drum, and R(x) is the coal-rock interface. The paths in this function are all coordinates of discrete points. For ease of understanding, they are changed to continuous curves in this embodiment.

[0073] Optionally, in some embodiments, the path determination module 103 is used to perform continuous and smooth expression on the coal cutting path point set (x, y) output by the data processing module 102, and convert it into a path function form, which is defined as:

[0074] y=f(x)

[0075] To meet the requirements of the drum coal cutting equipment for trajectory curve continuity and smooth posture changes during actual working face operations.

[0076] Optionally, in some embodiments, the path execution control module 104 is used to dynamically determine the executability of the path segment based on the current operating status and path characteristics of the drum coal cutting equipment, and accordingly control the start, stop and path segment switching of the drum, thereby realizing dynamic start-stop control and adaptive adjustment during the path tracking process.

[0077] Before the roller executes a path segment, the system compares and calculates the current device status with the path segment characteristics to determine whether the execution conditions are met. The main judgment indicators include:

[0078] The current roller position is judged by feedback data from the position encoder or hydraulic support, and the current lateral position x_current of the roller is obtained in real time. It is compared with the horizontal coordinate x_k of the target segment. If |x_current-x_k|<ε_x (set allowable error), the path segment execution judgment stage is entered.

[0079] Path segment slope judgment, calculate the slope of the current path segment Compared with the maximum posture adjustment capability of the roller S_{max}, if it satisfies: |S k ∣≤S max , then the path segment is considered to be within the equipment's attitude adjustment capability and can be executed safely.

[0080] The system integrates the multi-source operating status signals of the drum equipment and realizes real-time judgment and response control of abnormal conditions based on the set threshold and recognition model. Specifically, it includes the following three types of judgment logic:

[0081] ① Coal or gangue identification signal

[0082] The system uses front-end sensor modules (electromagnetic wave detectors and near-infrared sensors) to determine whether there is coal or gangue ahead. If the probability of gangue existing in the corresponding areas of two or more consecutive paths exceeds a set threshold (P>60%), the system marks the current path segment as "high-risk" and determines that it cannot be executed.

[0083] ② Monitoring of abnormal load and torque of cutter head

[0084] The system monitors the operating status of the drum cutter head through multi-source sensor fusion, including three key parameters: spindle torque, drive current, and cutter head speed. During each control cycle, the system collects real-time data from the drum spindle torque signal (obtained by the torque sensor), the main drive current value, and the actual rotational speed measured by the speed sensor mounted on the end of the cutter head output shaft.

[0085] The system performs the following data processing and judgment logic within the set sliding time window Δt:

[0086] Calculate the average value of the spindle torque in this time window, recorded as T_avg, as a typical representative of the current cutting load of the cutter head;

[0087] The system preset torque safety limit T_thresh is the maximum allowable torque that the equipment can withstand under rated cutting conditions;

[0088] At the same time, set the speed safety lower limit N_thresh, which indicates the minimum speed value that the cutter head should maintain under normal cutting conditions (to prevent low-speed jamming);

[0089] The abnormal duration judgment threshold Δt_limit is introduced to distinguish short-term disturbances from real faults.

[0090] The system performs the following combined judgment logic on the data in each cycle:

[0091] If it is detected that the torque T_avg > T_thresh and the duration of this state is greater than or equal to Δt_limit, or if it is detected that the actual cutter head speed N_actual < N_thresh and this low-speed state is accompanied by a simultaneous increase in T_avg and the duration is ≥ Δt_limit, then the system believes that the cutter head may be in an area of high-hardness coal rock, the tool is excessively worn, or adverse working conditions such as rock body jamming occur.

[0092] At this time, the system determines that there is a risk of non-execution in the current path segment, immediately issues an instruction to interrupt the execution of the current path segment, and enters the safe cutting stop state to prevent faults such as equipment overload, tool damage, or spindle overheating.

[0093] ③ Judgment of drum attitude instability

[0094] To achieve precise monitoring and stable control of the execution attitude of the drum, the system introduces an attitude angle feedback mechanism and sets a dynamic response tolerance for attitude stability judgment. The system continuously monitors the target attitude angle θ of the drum execution mechanism target and the real-time attitude feedback angle θ actual , and calculates the deviation between the two:

[0095] Δθ = θ actual - θ target

[0096] During the process of the drum executing path tracking, if it is detected that the angle deviation |Δθ| > 10° and this state lasts for more than the set response time (2 seconds), it indicates that the attitude control system cannot stably follow the path curve, and there are problems such as attitude drift or response hysteresis. At this time, the system will trigger path segment switching or overall pause control to prevent the drum from getting stuck, colliding, or experiencing excessive wear due to angle overshoot.

[0097] To accurately obtain the attitude feedback angle θ actual , the present invention designs and installs an angle counter mechanism linked by a gear set at the hinge shaft of the drum rocker arm: during the up and down posture adjustment of the rocker arm, it drives the connecting gear set to rotate, and the rotation angle of the gear set is recorded by the counter in real time as the rotation pulse number. By setting the gear transmission ratio and the initial value of the counter, the system can convert the counter reading into the drum elevation angle in real time. Among them, when the rocker arm is in the lowest position, the counter reading is reset to zero, and it gradually increases as the rocker arm is raised, forming an angle feedback channel with a stable corresponding relationship and sensitive response.

[0098] When the system comprehensively determines that the current path segment is not executable (slope exceeds the limit, gangue is identified, or the posture is unstable), the path execution control module immediately enters the path pause state and starts the following closed-loop control mechanism:

[0099] Freeze the current position: The control system stops the roller movement, records the current lateral position and marks it as the freezing point x_freeze, which is used as a reference starting point for subsequent path repair or replanning;

[0100] Path segment repair determination: The system evaluates whether the current path segment is repairable. If the path segment interruption is caused by sudden interference or abnormal fine-tunable curvature, the path data processing module (module 102) is called to perform local perturbation optimization and attempt to repair the trajectory segment.

[0101] Path segment replacement and jump: If the repair is successful, the current path segment is updated and execution continues; if the current segment cannot be repaired, a new path segment that is closest to and most compatible with the current position is retrieved from the preset path candidate library for jump replacement, and the path feasibility judgment is re-executed;

[0102] Path recovery trigger mechanism: The system continuously detects the drum posture status and path segment execution conditions. When it determines that the drum position is stable and the new segment can be executed, it immediately sends a "start signal" to resume the path execution process to ensure uninterrupted coal cutting operations.

[0103] During the path execution process, the system outputs the following four key control instructions in real time based on the current position of the roller and the path function characteristics, forming a closed-loop control command group for the intelligent operation of the equipment:

[0104] ①Target height command (y target )

[0105] The system obtains the target coal cutting height based on the current position x_current of the drum by looking up the table or interpolating the path function y=f(x):

[0106] y target =f(x current )

[0107] This height value is used as the lifting control target of the roller cutter head and is sent to the roller height adjustment mechanism to achieve accurate tracking of the roller cutter head along the path trajectory.

[0108] ②Attitude angle adjustment command (θ target )

[0109] The system calculates the corresponding attitude angle target value based on the slope dy / dx of the current path segment:

[0110]

[0111] This angle value is used to drive the attitude control mechanism (hydraulic rocker arm or multi-joint roller support system) to adjust the roller elevation angle to ensure that the roller maintains optimal cutting contact with the coal rock surface.

[0112] ③Start or pause execution control (Start / Pause)

[0113] Based on the path segment slope judgment, the gangue identification results, and the posture stability perception index, the system performs a comprehensive judgment on the executability:

[0114] If all execution conditions are met, the Start signal is output to allow the coal cutting equipment to continue advancing;

[0115] If any condition triggers an unexecutable judgment (slope exceeds the limit, identification of gangue, posture instability), the Pause command is immediately output to freeze the current operation and start the repair or switching process.

[0116] ④Alarm / safety protection signal (ALARM)

[0117] The system continuously monitors abnormal operating conditions. Once any of the following abnormal conditions is detected, it will immediately output an alarm signal ALARM and trigger the linked emergency stop mechanism:

[0118] The attitude angle deviation exceeds the limit for too long.

[0119] The cutter head speed drops and the torque exceeds the limit;

[0120] Multiple paths are consecutively judged as unexecutable;

[0121] The echo signal of the front-end sensor disappears abnormally or fluctuates violently.

[0122] The alarm interface will be triggered immediately, the ALARM signal will be output, and the emergency stop mechanism can be linked through the system control bus to ensure the safety of equipment and personnel.

[0123] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the described method can refer to the corresponding process in the aforementioned system embodiment and will not be repeated here.

[0124] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0125] Although some specific embodiments of the present invention have been described in detail by way of example, it will be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present invention. It will also be understood by those skilled in the art that various modifications may be made to the embodiments without departing from the scope and spirit of the present invention. The scope of the present invention is defined by the appended claims.

Claims

1. A path intelligent control system for drum-type coal cutting equipment, characterized in that: include: A signal transceiver module is used to send multiple sets of electromagnetic wave signals to different heights of the working surface through a transmitting unit installed on the hydraulic support, and obtain echo signals reflected from the coal-rock interface through a receiving unit; and calculate the coal-rock interface coordinate point set based on the reflected electromagnetic wave signals; A data processing module is used to receive the point set and construct and evolve an initial path group through a genetic algorithm. On this basis, a particle swarm optimization strategy is introduced to perform group search convergence, and a simulated annealing algorithm is further combined to perform perturbation fine-tuning in the local solution space to obtain a coal cutting path solution with high fitness; A path determination module is used to perform cubic B-spline interpolation processing on the optimized path to construct a continuous coal cutting trajectory that meets the drum operation characteristics requirements; The path execution control module is used to determine whether the current path is executable based on the current position of the coal cutter, the drum posture parameters, and the slope change of the target path. When the slope exceeds the limit or the interference signal is abnormal, the control device automatically starts and stops or switches the path segment to achieve dynamic regulation and adaptive control during the path execution process.

2. The intelligent path control system according to claim 1, characterized in that: in, The signal transceiver module includes: The transmitting unit is used to be installed on the hydraulic support and emit multiple sets of electromagnetic wave signals with different frequencies to the working surface according to the preset transmitting angle and height distribution; The receiving unit is used to collect the echo signal reflected from the coal-rock interface and record the corresponding reflection intensity, propagation time and receiving angle; The calculation unit is used to calculate the distance value from each measuring point to the support according to the propagation time, combine the known position of the launch point, form the two-dimensional point set coordinates of the working face, and extract the stable coal-rock interface contour point set.

3. The intelligent path control system according to claim 2, characterized in that: in, The calculation unit includes: The time difference conversion subunit is used to record the emission time of the electromagnetic wave signal and its echo reception time, and calculate the distance value from each measuring point to the hydraulic support based on the electromagnetic wave propagation speed in the coal rock medium; The coordinate point generation subunit is used to convert the distance value of each emission point into a two-dimensional point set coordinate (x, y) in the working face coordinate system, where x is the position of the working face sampling point and y is the corresponding coal-rock interface height.

4. The intelligent path control system according to claim 1, characterized in that: in, The data processing module includes: The genetic algorithm unit is used to receive the coal-rock interface point set, and uses the path fitting accuracy, smoothness and slope constraints as fitness indicators to construct the initial path population and perform intergenerational evolution to obtain the local optimal path solution; The particle swarm optimization unit uses the local optimal path solution as the initial particle and performs multiple rounds of global search through the collaborative iteration of individual optimal and group optimal to further optimize the path; If the path fitness meets the threshold, the current path is output as the coal-rock interface optimization path point set; Otherwise, the current path is input into the genetic algorithm unit and the particle swarm optimization unit as a new population, and the above iterative process is repeated until the convergence condition is met; The simulated annealing unit performs two-stage perturbation optimization on the final path result, perturbing the result through the annealing temperature, jumping local extreme points, and outputting a path point set result that meets the accuracy and continuity requirements for the path determination module to perform interpolation construction processing.

5. The intelligent path control system according to claim 1, characterized in that: in, The path determination module includes: The interpolation construction unit is used to fit the discrete path point set output by the path optimization module using the cubic B-spline interpolation method to ensure that the path is continuous and differentiable within the coal cutter operation range; The curve smoothing control unit is used to limit the slope variation range between the control points of the spline function and to impose smoothness constraints on the curvature of the fitting path to avoid oscillation or sudden angle changes in the connection section of the trajectory; The output generation unit is used to output the coal cutting trajectory curve that meets the requirements of the smoothness of the drum posture change, and provide it to the path execution control module for subsequent real-time trajectory tracking.

6. The intelligent path control system according to claim 1, characterized in that: in, The path execution control module includes a path executable determination unit, which is used to determine in real time before and during path execution whether the generated path meets the controllable operation conditions of the device. The path executable determination unit includes: Detect the slope change of each path segment. If the path curvature or slope exceeds the allowable range of roller posture adjustment, it will be marked as an unexecutable segment. The feasibility of the path segment at the current position is evaluated based on the current position of the coal cutter and the drum angle adjustment capability; If any of the conditions is not met, the system determines that the current path segment cannot be executed and outputs a pause control signal and a path switching instruction preparation state.

7. The intelligent path control system according to claim 6, characterized in that: in, The path execution control module also includes an automatic start-stop control unit, which is used to implement intelligent start-stop control at the path segment level based on the path executable judgment result and the coal cutter operating status. The specific control logic of the automatic start-stop control unit includes: When the path judgment result is executable and the current posture parameters of the roller are within the adjustable range, the execution start signal is triggered to start the execution process of the path segment; When the path judgment result is unexecutable, or when a sudden change in slope or approaching of attitude limit is detected during path execution, a pause instruction is issued to control the coal cutter to enter a safe stop state. In the stop cutting state, the control system enters the path segment switching preparation state, waiting for the path determination module to provide the next feasible trajectory; If no alternative path segment is obtained within a certain period of time, the path back-off and obstacle avoidance strategy will be executed to ensure the safety of the roller and tool.

8. The intelligent path control system according to claim 6, characterized in that: in, The path execution control module also includes a path segment switching unit, a local re-optimization unit, and a switching control unit, which are used to dynamically switch path segments and perform local re-optimization when a path is not executable or execution is interrupted; The path segment switching unit is used to retrieve adjacent path segments or preset redundant paths from the generated paths for fast matching according to the current position of the coal cutter after the path execution is paused; The local re-optimization unit is used to call the data processing module to perform local path reconstruction and rapid optimization processing on the path segment that cannot be directly switched based on the current position and the starting point of the segment to be executed; The switching control unit is used to determine the executability of the new path segment after the fitting is completed. If the conditions are met, the execution is automatically continued; if not, the cutting state is retained and a path abnormality prompt signal is sent to the upper system.

9. The intelligent path control system according to claim 8, characterized in that: in, The path segment switching unit includes a path priority sorting unit and a cache path retrieval unit, and its operation process is as follows: The path priority sorting unit is used to score the currently unexecuted path segments in the system memory in real time, and the scoring is based on the Euclidean distance between the starting point of the path segment and the current position and the overall slope stability index of the path segment; The cache path retrieval unit is used to select the optimal path segment as a candidate switching path according to the sorting result, and perform slope continuity verification with the current position to ensure the connectability of the path segment; If the switching condition is met, the control system immediately enters the path segment switching state, otherwise it retains the current pause state.

10. The intelligent path control system according to claim 8, characterized in that: in, The local re-optimization unit includes a boundary fixing unit and a disturbance fine-tuning unit, and its working logic is as follows: The boundary fixing unit is used to lock the two end points of the path between the actual position of the current device and the target connection point of the path segment as the boundary condition of the path optimization; The perturbation fine-tuning unit is used to call the simulated annealing algorithm in the data processing module based on the path point set within the fixed boundary, and fine-tune the path curve in a small-scale perturbation manner, focusing on optimizing the curvature continuity and the consistency of the connection slope.

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