Coal mine fully-mechanized coal mining simulation system control method and device and simulation system

Abstract

The invention relates to the technical field of data simulation, and discloses a coal mine fully-mechanized coal mining simulation system control method and device and a simulation system. The method comprises the steps of obtaining real-time working condition parameters; obtaining a dynamic compensation coefficient; determining an actual displacement stroke according to the real-time working condition parameters and the dynamic compensation coefficient; and generating a coal cutter motion instruction of the simulation system at the next moment based on the actual displacement stroke. The compensation coefficient is dynamically adjusted according to historical real-time working condition parameters, and the motion trail of the simulation system at the next moment is adjusted based on the compensation coefficient and the real-time working condition parameters at the current moment, that is, the theoretical value is corrected through dynamic compensation, so that the displacement of the virtual model approaches the actual displacement of real physical equipment instead of directly replacing the measured value. The simulation system can simulate the actual system operation condition more truly, and a more reliable simulation result is provided for actual operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data simulation, for example to a coal mine fully mechanized simulation system control method and device and simulation system. BACKGROUND

[0002] The coal mine fully mechanized system usually faces multiple risks such as high gas, roof collapse, equipment collision, and water damage during actual operation, and the underground environment is closed and the consequences of accidents are serious. The simulation technology can avoid real risks through virtual training in advance, and effectively improve the operation safety and reliability of the actual system.

[0003] In the process of implementing the embodiments of the present application, it is found that at least the following problems exist in the related art:

[0004] The existing virtual simulation system of the coal mine fully mechanized working face relies on two-dimensional laser radar or inclination sensor to collect equipment data. The mechanical gap and angle deviation in the hydraulic support pushing process (such as the S-bend area of the scraper) are not considered, resulting in a large deviation between the virtual model and the actual equipment.

[0005] It should be noted that the information disclosed in the above background section is only used to strengthen the understanding of the background of the present application, and therefore can include information that does not constitute prior art known to those of ordinary skill in the art. SUMMARY

[0006] In order to have a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. The summary is not a general review, nor is it intended to determine key / important components or delineate the scope of protection of these embodiments, but as a prelude to the detailed description below.

[0007] The embodiments of the present application provide a coal mine fully mechanized simulation system control method, device and simulation system to improve the operation accuracy of the coal mining machine.

[0008] In some embodiments, the coal mine fully mechanized simulation system control method includes: obtaining real-time working condition parameters; obtaining a dynamic compensation coefficient; the dynamic compensation coefficient is calculated according to historical working condition parameters of a preset historical time period; determining an actual pushing stroke according to the real-time working condition parameters and the dynamic compensation coefficient; generating a coal mining machine motion instruction of a next time simulation system based on the actual pushing stroke.

[0009] Optionally, obtaining a dynamic compensation coefficient includes: obtaining historical working condition parameters in a preset historical time period; performing linear regression processing on the historical working condition parameters to obtain an updated compensation coefficient; obtaining an environmental condition parameter; adjusting the compensation coefficient according to the environmental condition parameter.

[0010] Optionally, the determining the actual pushing stroke according to the working condition parameter and the dynamic compensation coefficient comprises: L actual = L theory +k1F+k2T+k3v 2 +L theory tan(θ); wherein, k1 is a pushing resistance compensation coefficient, k2 is a time compensation coefficient, k3 is a speed compensation coefficient, F is a pushing resistance, T is a time, v is a speed, θ is an angle deviation, L theory is a theoretical pushing stroke.

[0011] Optionally, the fully mechanized coal mining simulation system further comprises a simulation server, and the method further comprises: sending the shearer movement instruction to the simulation server; and the model simulator performs simulation operation based on the shearer movement instruction.

[0012] Optionally, the fully mechanized coal mining simulation system further comprises a model server, and the method further comprises: sending the real-time working condition parameter to the model server; and receiving the updated dynamic compensation coefficient from the model server; wherein the dynamic compensation system is output by a neural network model in the model server, and the neural network model is trained based on the historical working condition parameter.

[0013] Optionally, the real-time working condition parameter comprises a hydraulic support angle and a scraper tension, the scraper tension is obtained by a tension sensor, and the hydraulic support angle is obtained by a MEMS (Micro Electro Mechanical System) sensor, and the method further comprises: in the case that the tension sensor fails, reconstructing the scraper tension according to the inclination data of the MEMS sensor.

[0014] Optionally, the reconstructing the scraper tension according to the inclination data of the MEMS sensor comprises: obtaining the inclination data of the MEMS sensor; constructing a tension curve based on the inclination data; and driving a cylinder to adjust the tightness of a chain according to the tension curve, so as to maintain the tension within a preset safe range.

[0015] In some embodiments, the fully mechanized coal mining simulation system control device is applied to a fully mechanized coal mining simulation system, the fully mechanized coal mining simulation system comprises a shearer, a hydraulic support and a scraper, and the device comprises: a parameter acquisition module, configured to acquire real-time working condition parameters; the real-time working condition parameters comprise shearer environment parameters, a hydraulic support angle and a scraper tension; a coefficient acquisition module, configured to acquire a dynamic compensation coefficient; the dynamic compensation coefficient is calculated according to historical working condition parameters in a preset historical time period; a determination module, configured to determine an actual pushing stroke according to the real-time working condition parameters and the dynamic compensation coefficient; and an instruction generation module, configured to generate a shearer movement instruction of the simulation system at a next time based on the actual pushing stroke.

[0016] In some embodiments, the fully mechanized coal mining simulation system, comprising a coal mining machine, a hydraulic support group and a scraper, is characterized in that it further comprises: a laser radar arranged on the top of the coal mining machine, used for vertically scanning a preset angle range around the coal mining machine to generate a working face point cloud map; a MEMS sensor arranged on the top beam of the hydraulic support group, used for detecting the pitch angle and roll angle of the hydraulic support group; a tension sensor embedded in the chain wheel shaft end of the scraper, used for detecting the dynamic tension of the scraper chain in the scraper during operation; and a distributed data server system comprising a gateway, a bus system, a simulation server and a model server, used for receiving data sent by the laser radar, the MEMS sensor and the tension sensor through the bus system and executing any method.

[0017] The coal mine fully mechanized simulation system control method, device and simulation system provided by the embodiments of the present application can achieve the following technical effects:

[0018] The compensation coefficient is dynamically adjusted according to historical real-time working condition parameters, and the simulation system motion trajectory at the next moment is adjusted based on the compensation coefficient and the real-time working condition parameters at the current moment, that is, the theoretical value is corrected by dynamic compensation, so that the displacement of the virtual model approximates the actual displacement of the real physical equipment, instead of directly replacing the measured value. The simulation system is improved to more realistically simulate the actual system running condition, and provides more reliable simulation results for actual operation.

[0019] The foregoing general description and the following description are only exemplary and explanatory, and are not used to limit the present application. BRIEF DESCRIPTION OF DRAWINGS

[0020] One or more embodiments are exemplarily illustrated by corresponding drawings, which do not constitute limitation on the embodiments, elements with the same reference numerals in the drawings are shown as similar elements, the drawings do not constitute proportional limitation, and wherein:

[0021] Figure 1 It is a structural schematic diagram of a fully mechanized coal mining system;

[0022] Figure 2 It is a schematic diagram of a coal mining machine development process;

[0023] Figure 3 It is a flowchart of a coal mine fully mechanized simulation system control method provided by the embodiments of the present application;

[0024] Figure 4 It is a position schematic diagram of various sensors in the coal mine fully mechanized simulation system provided by the embodiments of the present application;

[0025] Figure 5A schematic diagram of the structure of a coal mine fully mechanized mining simulation system control device is also provided for embodiments of this application;

[0026] Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0027] To provide a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this application. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0028] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0029] Unless otherwise stated, the term "multiple" means two or more.

[0030] In this embodiment, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0031] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0032] Combination Figure 1 This is a schematic diagram of the structure of a fully mechanized coal mining system, such as... Figure 1 As shown, a fully mechanized coal mining system includes hydraulic supports, a coal mining machine, and a conveyor. Based on Figure 1 The coal mine fully mechanized mining system shown is Figure 2 A schematic diagram of the coal mining machine development method is shown, such as... Figure 2 As shown, the fully mechanized coal mining system also includes a scraper conveyor, based on the above. Figure 1 and Figure 2 The fully mechanized coal mining system shown typically faces multiple risks during actual operation, including high gas levels, roof collapse, equipment collisions, and water hazards. Furthermore, the underground environment is enclosed, and accidents can have severe consequences. Simulation technology allows for virtual rehearsals and mitigation of real-world risks, effectively improving the operational safety and reliability of the actual system.

[0033] However, the existing virtual simulation system of fully mechanized coal mining face adopts a centralized architecture, relies on two-dimensional laser radar or inclination sensor to collect equipment data. The mechanical gap and angle deviation in the pushing process of the hydraulic support (such as the S-shaped area of the scraper) are not considered, resulting in a large deviation between the virtual model and the actual equipment. At the same time, contact type inclination sensors are still used in high-risk areas (such as the connection between the top beam of the hydraulic support and the scraper), and the failure frequency is too large due to coal slime pollution. Under the centralized architecture, the data needs to be returned to the central server for processing, which has a long delay time and cannot support real-time control requirements.

[0034] To solve the above problems, based on the system shown in Figure 1 The embodiment of the application provides a coal mine fully mechanized simulation system control method, as shown in Figure 3 The method comprises the following steps:

[0035] S301: acquiring real-time working condition parameters;

[0036] In some examples, the real-time working condition parameters include coal mining machine environment parameters, hydraulic support angle and scraper tension.

[0037] S302: acquiring a dynamic compensation coefficient; the dynamic compensation coefficient is calculated according to historical working condition parameters of a preset historical time period;

[0038] S303: determining an actual pushing stroke according to the real-time working condition parameters and the dynamic compensation coefficient;

[0039] S304: generating a coal mining machine motion instruction of a next moment simulation system based on the actual pushing stroke.

[0040] In the above embodiment, the coal mining machine environment parameters are acquired by a contact type inclination sensor, the hydraulic support angle information is acquired by a MEMS sensor, and the scraper tension is acquired by a tension sensor or a pressure sensor.

[0041] The coal mine fully mechanized simulation system control method provided by the embodiment of the application can dynamically adjust the compensation coefficient according to the historical real-time working condition parameters, and adjust the simulation system motion trajectory of the next moment based on the compensation coefficient and the real-time working condition parameters at the current moment, that is, the theoretical value is corrected by dynamic compensation, so that the displacement of the virtual model approximates the actual displacement of the real physical equipment, instead of directly replacing the measured value. The simulation system is improved to more realistically simulate the actual system running condition, and provides more reliable simulation results for actual operation.

[0042] Further, Figure 4 The coal mine fully mechanized simulation system provided by the embodiment of the application includes a sensor setting position, specifically, can include:

[0043] A laser radar 401 is arranged on the top of the coal mining machine and is used for vertically scanning a preset angle range around the coal mining machine to generate a working face point cloud map.

[0044] A MEMS sensor 402 is arranged on the top beam of the hydraulic support group and is used for detecting the pitch angle and roll angle of the hydraulic support group.

[0045] A tension sensor 403 is embedded at the end of the chain wheel shaft of the scraper machine and is used for detecting the dynamic tension of the scraper chain in the scraper machine during operation.

[0046] A distributed data server system 404 includes a gateway 4041, a bus system 4042, a simulation server 4043 and a model server 4044, and is used for receiving data transmitted by the laser radar, the MEMS sensor and the tension sensor through the bus system and executing any method provided in the embodiments.

[0047] The simulation system described above adopts a three-layer distributed design, can monitor the data of each area in real time, improves the real-time performance of the data, and uses the laser radar to replace the original inclination sensor, so that the non-contact detection method avoids the long-term contact of the sensor with the coal slime and prolongs the service life of the sensor.

[0048] As a specific embodiment, the MEMS sensor can be fixed on the center of the top beam of the hydraulic support to avoid vibration interference. The MEMS sensor is mainly used for measuring the pitch angle and the roll angle. Specifically, the pitch angle is used for monitoring the up-down inclination angle between the top beam and the base (for example, the range is ± 30° and the accuracy is ± 0.1°), and the roll angle is used for detecting the left-right inclination state of the support (the range is ± 45° and the accuracy is ± 0.1°).

[0049] As a specific embodiment, the laser radar can realize the environmental scanning of the fully mechanized coal mining system. For example, the VLP-16 laser radar is used to vertically scan the periphery of the coal mining machine (angle ± 15°, resolution 5 cm), to generate a working face point cloud map, to calculate the actual displacement of the hydraulic support through point cloud registration (NDT+ICP algorithm), and the accuracy is ± 1 mm.

[0050] Since the laser radar adopts a non-contact detection method, compared with the existing contact detection method (for example, the tension sensor), the sensor can be effectively prevented from being polluted by the coal slime, the service life of the sensor is shortened, and the accuracy of the measurement result is improved.

[0051] Specifically, the model server can be a server used for model training, and the server is used for rigid-flexible coupling dynamics modeling.

[0052] The hydraulic support is modeled as a rigid body (mass-spring-damping system), and the scraper chain is modeled as a flexible body (finite element model, node number > 100,000).

[0053] Physical engine: Unity3D HDRP pipeline, simulating cutting resistance, chain stress distribution (error <5%).

[0054] The simulation server can be a rendering simulation server for real-time rendering, such as driving virtual device actions based on preprocessed data, with a frame rate of ≥60fps.

[0055] The gateway 607 end issues control instructions, such as interacting with PLC through OPC UA protocol, with an instruction delay of <200ms.

[0056] Further, to improve the security of data communication, communication protection can also be added, such as using physical isolation firewall (such as industrial CiscoIR1101) between layers, and data encryption: AES-256 algorithm to encrypt downlink control instructions.

[0057] A three-layer distributed system is used to monitor real-time regional data, improve data real-time performance, and use laser radar instead of the original inclination sensor in the coal mining machine. This non-contact detection method avoids long-term contact of the sensor with coal slime, prolonging the service life of the sensor.

[0058] As a specific example, in the scraper conveyor, the fiber bragg grating tension sensor (FBG) embedded in the chain wheel shaft end is mainly used to detect the dynamic tension of the scraper chain during operation. Since the chain wheel is the core node of the chain transmission, the tension here reflects the overall stress state of the chain, and real-time monitoring can avoid the chain being too loose (causing chain jumping, blocking) or too tight (causing chain breaking, bearing wear).

[0059] The data of the above sensor is sent to a data server, such as a gateway, and the communication link can be laser radar point cloud data transmitted through CAN bus at a rate of 1Mbps; MEMS unit and tension sensor data transmitted through RS485 bus, with a synchronization error of <1ms.

[0060] In the gateway, Kalman filtering algorithm can be used to fuse laser point cloud, MEMS angle and tension data, calculate the next time operation instruction of the coal mine fully mechanized system, and issue the instruction to the simulation server.

[0061] Through the distributed system setting of the gateway and the simulation server, each server can collect relevant data in real time, solving the problem of data processing delay. Through the laser radar, the sensor avoids contact with coal slime, and the grating and MEMS micro-inertial unit are used together to improve the stability of the data provided by the sensor and avoid the loss caused by the damage of a single sensor.

[0062] In some examples, the step S302 in the above embodiment of acquiring the dynamic compensation coefficient can specifically include: acquiring historical working condition parameters in a preset historical time period; performing linear regression processing on the historical working condition parameters to obtain an updated compensation coefficient; acquiring an environmental condition parameter; and adjusting the compensation coefficient according to the environmental condition parameter.

[0063] In some examples, the step S303 in the above embodiment of determining the actual pushing stroke according to the implementation working condition parameter and the dynamic compensation coefficient specifically includes determining the actual pushing stroke according to the following formula:

[0064] L actual =L theory +k1F+k2T+k3v 2 +L theory ·tan(θ) (1)

[0065] wherein k1 is a pushing resistance compensation coefficient, k2 is a time compensation coefficient, k3 is a speed compensation coefficient, F is the pushing resistance, T is the time, v is the speed, θ is the angle deviation, L theory is the theoretical pushing stroke.

[0066] In the above embodiment, the initial data is acquired first, including:

[0067] A1: acquiring point cloud data by laser radar and performing point cloud filtering.

[0068] The specific filtering method can adopt a pass-through filter (PassThrough Filter) to intercept point clouds in a height range of 1.5m to 3.5m. Or a voxel filter (Voxel Grid Filter) to reduce the sampling, for example, the voxel size can be set to 5cm 3 , so that the point cloud density is reduced by 80%.

[0069] A2: motion distortion compensation, specifically, the A-LOAM (Advanced LiDAR Odometry and Mapping) algorithm can be used to eliminate the stretching of point clouds caused by the movement of the coal mining machine.

[0070] A3: MEMS data calibration. The gyro zero offset is corrected according to the environmental temperature (-30℃ to 80℃).

[0071] Specifically, the following formula can be used:

[0072] Δθ=θ raw -k t *(T env -T ref )

[0073] Wherein, Δθ is the angle correction value after temperature compensation, θ raw is the original angle measurement value measured by the MEMS sensor, k t is the temperature compensation coefficient, the value is 0.005° / ℃, T env is the current environment temperature, T ref is the reference temperature (which can be room temperature 25℃).

[0074] A4: error compensation calculation, compensation calculation is carried out through the above formula (1), wherein the compensation coefficient can be as follows:

[0075] k1=0.08mm / kN (push resistance compensation coefficient, actual linear regression R2=0.95);

[0076] k2=1.2mm / s (time compensation coefficient, dynamic friction correction);

[0077] k3=0.6mm / (m / s) 2 (speed compensation coefficient, polynomial fitting).

[0078] A5: point cloud registration.

[0079] Specifically, the registration can be completed using a two-step registration method. First step, NDT coarse registration: align the physical point cloud with the virtual model initially, the grid resolution is 10cm;

[0080] Second step, Point-to-Plane ICP fine registration: iteratively calculate the pose transformation matrix T, and the convergence condition is that the translation error is <1mm and the rotation error is <0.1°.

[0081] Model-driven: update the virtual hydraulic support pose matrix.

[0082] Drive the scraper chain flexible body model deformation to simulate the chain slack amount (±5mm).

[0083] A6: based on the actual push stroke calculated according to the above steps, control the next action of the simulation system.

[0084] Through the dynamic compensation strategy of the above steps A1-A6, the cumulative error of the system is reduced, and the compensation coefficients k1, k2 and k3 are obtained through historical data regression analysis (such as k1=0.08mm / kN based on 300 sets of pressure-displacement data fitting), which effectively improves the cumulative error of the system.

[0085] In some examples, the above coal mine fully mechanized simulation system further includes a simulation server, and the method further includes: sending the coal mining machine motion instruction to the simulation server; and the model simulator performs simulation operation based on the coal mining machine motion instruction.

[0086] Wherein, the simulation server can be an OPC UA protocol configuration: as a specific example, the instruction content can be a push cylinder target displacement of 321.072 mm and a speed of 0.3 m / s.

[0087] The above process supports online updating of the edge gateway (e.g., parameters can be remotely adjusted in the event of changes in geological conditions), effectively improving the accuracy of the simulation system.

[0088] In some examples, the fully-mechanized coal mining simulation system further includes a model server, and the method further includes:

[0089] The real-time working condition parameters are sent to the model server, and the updated dynamic compensation coefficient of the model server is received; wherein, the dynamic compensation system is output by a neural network model in the model server, and the neural network model is trained based on the historical working condition parameters.

[0090] In some examples, the scraper tension is obtained by a tension sensor, and the hydraulic support angle is obtained by a MEMS (micro-electromechanical system) sensor, and the method further includes: in the case of failure of the tension sensor, the scraper tension is reconstructed according to the inclination data of the MEMS sensor.

[0091] In some examples, reconstructing the scraper tension according to the inclination data of the MEMS sensor includes: obtaining the inclination data of the MEMS sensor; constructing a tension curve based on the inclination data; and driving the oil cylinder to adjust the tightness of the chain according to the tension curve, so as to maintain the tension within a preset safe range.

[0092] As an example of an actual application scenario, for example, in a high-dust environment, the scraper tension sensor fails. The tension curve is reconstructed using the MEMS inclination data of the adjacent hydraulic support, to ensure that the system can still operate continuously and reliably when the sensor fails.

[0093] The specific replacement process includes:

[0094] 1) Initial data:

[0095] The MEMS inclination data of the adjacent hydraulic support is called (for example, left support θ1=1.8°, right support θ2=2.1°);

[0096] 2) Data interpolation:

[0097] The tension curve is reconstructed by cubic spline interpolation using the following formula:

[0098] F interp = a*(h-hi) 3 +b*(h-hi) 2+ c * (h - hi) + d (interpolation error < 3mm).

[0099] 3) Laser compensation:

[0100] Lidar scans sprocket position of the scraper, calculates chain slack ΔL = 5mm;

[0101] 4) Compensation formula modification: L actual = L actual + ΔL

[0102] 5) System self-check and alarm:

[0103] Edge gateway triggers fault code;

[0104] Push alarm information to the ground monitoring center:

[0105] After the above steps, in one specific example,

[0106] Theoretical displacement: 500mm, actual displacement: 533.9mm, total compensation: 33.9mm,

[0107] Synchronization accuracy: laser tracker measured error ±1.8mm.

[0108] As Figure 5 shown, the embodiment of the present application also provides a coal mine fully mechanized simulation system control device, which is applied to a coal mine fully mechanized simulation system, the coal mine fully mechanized simulation system comprises a coal winning machine, a hydraulic support and a scraper, and characterized by comprising:

[0109] A parameter acquisition module 501 is configured to acquire real-time working condition parameters; the real-time working condition parameters comprise coal winning machine environment parameters, hydraulic support angles and scraper tensions;

[0110] A coefficient acquisition module 502 is configured to acquire dynamic compensation coefficients; the dynamic compensation coefficients are calculated according to historical working condition parameters of a preset historical time period;

[0111] A determination module 503 is configured to determine actual pushing strokes according to the real-time working condition parameters and the dynamic compensation coefficients;

[0112] An instruction generation module 504 is configured to generate coal winning machine motion instructions of a next moment of the simulation system based on the actual pushing strokes.

[0113] The coal mine fully mechanized simulation system control device provided by the embodiment of the application can dynamically adjust the compensation coefficient according to historical real-time working condition parameters, and adjust the simulation system motion trajectory at the next moment based on the compensation coefficient and the real-time working condition parameters at the current moment, that is, the theoretical value is corrected by dynamic compensation, so that the displacement (L actual) of the virtual model approximates the actual displacement of the real physical equipment, instead of directly replacing the measured value. The simulation system is improved to more realistically simulate the actual system running condition, and provides more reliable simulation results for actual operation.

[0114] In combination with Figure 6 As shown in the figure, the embodiment of the application provides an electronic device 600, which includes a processor 100 and a memory 101. Optionally, the device can also include a communication interface 102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 can communicate with each other through the bus 103. The communication interface 102 can be used for information transmission. The processor 100 can call the logical instructions in the memory 101 to execute the coal mine fully mechanized simulation system control method described in any of the above embodiments.

[0115] In addition, the logical instructions in the memory 101 described above can be implemented in the form of a software functional unit and sold or used as an independent product, which can be stored in a computer readable storage medium.

[0116] The memory 101, as a computer readable storage medium, can be used to store software programs, computer executable programs, such as program instructions / modules corresponding to the method in the embodiment of the application. The processor 100 executes the program instructions / modules stored in the memory 101, thereby performing function applications and data processing, that is, implementing the coal mine fully mechanized simulation system control method of the above embodiments.

[0117] The memory 101 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and at least one application required by a function; the data storage area can store data created according to the use of the terminal device, etc. In addition, the memory 101 can include a high-speed random access memory, and can also include a non-volatile memory.

[0118] The embodiment of the application provides a computer readable storage medium, which stores computer executable instructions, and the computer executable instructions are set to execute the coal mine fully mechanized simulation system control method of the above embodiments.

[0120] The embodiment of the present application provides a computer program product, the computer program product comprises a computer program stored on a computer readable storage medium, the computer program comprises program instructions, when the program instructions are executed by a computer, the computer executes the coal mine fully mechanized simulation system control method of the above-mentioned embodiment.

[0121] The computer readable storage medium described above can be a transitory computer readable storage medium or a non-transitory computer readable storage medium.

[0122] The technical scheme of the embodiment of the present application can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes one or more instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in the embodiment of the present application. The aforementioned storage medium can be a non-transitory storage medium, including a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes, or a transitory storage medium.

[0123] The above description and drawings are illustrative of embodiments of the application and are not to be construed as limiting the application. Other embodiments can include structural, logical, electrical, process, and other changes. The embodiments are merely examples of the many possible embodiments of the application. Unless explicitly stated otherwise, individual components and functions are optional and the order of operations can vary. Parts and features of some embodiments can be included or replaced in or by parts and features of other embodiments. Also, the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. As used in the description of the embodiments and the claims, the article "a" is intended to include one or more articles, by use of "a" or "an," it is intended to include one or more embodiments. Also, as used in the description of the embodiments and the claims, the term "including" and variations thereof, means that existence of the features, integers, steps, operations, elements, and / or components noted are an option, and that not all of them are required, but that some embodiments can include, but not require, several of those specialties features, integers, steps, operations, elements, components, and / or combinations thereof. The phrase "consisting of" means an exclusive inclusion, that is, the listed components which are mandatory, not optional. The phrase "consisting essentially of" means the components which are mandatory, not optional, with the exception of other components of the application. The sentence "includes a..." means that other components can also be present in the process, method, or device. Each embodiment is focused on the differences from other embodiments, and the same or similar parts between embodiments can be mutually referred to. For the method, product, etc. disclosed in the embodiments, if it corresponds to the method part disclosed in the embodiments, the relevant part can be referred to the description of the method part.

[0124] Those skilled in the art can realize that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be realized in electronic hardware, or a combination of computer software and electronic hardware. Whether the functions are realized in hardware or software, it can depend on the specific application and design constraints of the technical solution. The skilled person can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of the embodiments of the application. The skilled person can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiments, which will not be repeated here.

[0125] In the embodiments disclosed herein, the disclosed methods, products (including but not limited to apparatuses, devices, etc.), can be implemented in other manners. For example, the apparatus embodiments described above are merely schematic. For example, the division of the units is merely logical function division. There can be other division manners in actual implementation. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections can be indirect couplings or communication connections through some interfaces, apparatuses, or units, and can be in electrical, mechanical, or other forms. The units described as separated components can or can not be physically separated, and components displayed as units can or can not be physical units. Some or all of the units can be selected according to actual needs to achieve the embodiments.

[0126] The flowcharts and block diagrams in the drawings show the possible implementation architectures, functions, and operations of the systems, methods, and computer program products according to the embodiments of the present application. In this regard, each block in the flowcharts or block diagrams can represent a module, a program segment, or a part of code that contains one or more executable instructions for implementing the specified logical functions. In some alternative implementations, the functions noted in the blocks can occur in different orders than those noted in the drawings. For example, two consecutive blocks can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. In the descriptions corresponding to the flowcharts and block diagrams in the drawings, the operations or steps corresponding to different blocks can also occur in different orders than those disclosed in the descriptions, and sometimes there is no specific order between different operations or steps. For example, two consecutive operations or steps can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. Each block in the block diagrams and / or flowcharts, and the combination of blocks in the block diagrams and / or flowcharts, can be implemented by a dedicated hardware-based system that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

Claims

1. A fully mechanized coal mine simulation system control method, characterized in that, The method comprises: acquiring real-time working condition parameters; acquiring a dynamic compensation coefficient, which is calculated according to historical working condition parameters in a preset historical time period; determining an actual pushing stroke according to the real-time working condition parameters and the dynamic compensation coefficient; generating a shearer motion instruction for a simulation system at a next time point based on the actual pushing stroke.

2. The method of claim 1, wherein, The acquisition of the dynamic compensation coefficient comprises: acquiring historical working condition parameters in a preset historical time period; performing linear regression processing on the historical working condition parameters to obtain an updated compensation coefficient; acquiring environmental condition parameters; adjusting the compensation coefficient according to the environmental condition parameters.

3. The method of claim 1, wherein, The determination of the actual pushing stroke according to the real-time working condition parameters and the dynamic compensation coefficient comprises: L actual = L theory + k1F + k2T + k3v 2 + L theory * tan(0); wherein k1 is a pushing resistance compensation coefficient, k2 is a time compensation coefficient, k3 is a speed compensation coefficient, F is a pushing resistance, T is a time, v is a speed, θ is an angle deviation, L theory is a theoretical pushing stroke.

4. The method of claim 1, wherein, The fully-mechanized coal mining simulation system further comprises a simulation server, and the method further comprises: sending the shearer motion instruction to the simulation server; the model simulator performs simulation operation based on the shearer motion instruction.

5. The method of claim 4, wherein, The fully-mechanized coal mining simulation system further comprises a model server, and the method further comprises: sending the real-time working condition parameters to the model server; receiving an updated dynamic compensation coefficient output by a neural network model in the model server, wherein the neural network model is trained based on the historical working condition parameters.

6. The method of claim 1, wherein, The real-time working condition parameters comprise a hydraulic support angle and a scraper tension, the scraper tension is acquired by a tension sensor, and the hydraulic support angle is acquired by a MEMS (micro-electromechanical system) sensor. The method further comprises: in the case that the tension sensor fails, reconstructing the scraper tension according to inclination data of the MEMS sensor.

7. The method of claim 6, wherein, The reconstruction of the scraper tension according to the inclination data of the MEMS sensor comprises: acquiring the inclination data of the MEMS sensor; constructing a tension curve based on the inclination data; adjusting the tightness of a chain according to the tension curve to maintain the tension within a preset safety range.

8. A fully mechanized coal mine simulation system control device applied to a fully mechanized coal mine simulation system, the fully mechanized coal mine simulation system comprising a coal mining machine, a hydraulic support and a scraper, characterized in that, The method comprises: a parameter acquisition module for acquiring real-time working condition parameters; a coefficient acquisition module for acquiring a dynamic compensation coefficient, which is calculated according to historical working condition parameters in a preset historical time period; a determination module for determining an actual pushing stroke according to the real-time working condition parameters and the dynamic compensation coefficient; an instruction generation module for generating a shearer motion instruction for a simulation system at a next time point based on the actual pushing stroke.

9. A fully mechanized coal mine simulation system, characterized in that, The simulation system comprises a shearer, a hydraulic support group and a scraper, and further comprises: a laser radar arranged on the top of the shearer, for vertically scanning a preset angle range around the shearer to generate a working face point cloud map; a MEMS sensor arranged on a top beam of the hydraulic support group, for detecting the pitch angle and roll angle of the hydraulic support group; a tension sensor embedded in an end of a chain wheel shaft of the scraper, for detecting the dynamic tension of a scraper chain in the scraper during operation. A distributed data server system comprising a gateway, a bus system, an emulation server and a model server for receiving data transmitted by the lidar, the MEMS sensor and the tension sensor via the bus system and performing the method of any one of claims 1 to 7.

10. An electronic device, comprising: A computer program product comprising a computer readable medium storing computer executable instructions that, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 7.

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