Anti-collision processing method and device for coal mining machine and hydraulic support and storage medium
By installing infrared transceivers on the coal mining machine and hydraulic supports, information can be transmitted in real time and the support posture can be adjusted, thus solving the problem of collision between the coal mining machine and the hydraulic supports and improving the safety and efficiency of the coal mining machine.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- SANY HEAVY EQUIP CO LTD
- Filing Date
- 2026-01-21
- Publication Date
- 2026-04-10
AI Technical Summary
In existing technologies, coal mining machines and hydraulic supports are prone to collisions during coal mining due to blurring caused by dust and water vapor, which affects mining efficiency and safety.
By installing infrared transceivers on the coal mining machine and hydraulic supports, real-time location and operation information can be transmitted. Infrared positioning and adjustment algorithms can be used to predict and adjust the posture of the supports to avoid collisions.
It enables accurate prediction and avoidance of collisions between the coal mining machine and the hydraulic support in dusty and water vapor environments, improving the safety and efficiency of the coal mining machine.
Smart Images
Figure CN121827808A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of coal mining technology, specifically to a method, device, and storage medium for preventing collisions between a coal mining machine and a hydraulic support. Background Technology
[0002] The automated collaborative mining of coal mining machines and hydraulic supports is an important part of fully mechanized mining faces. During the collaborative mining process, the coal mining machine moves below the top beam of the hydraulic support, so the drum of the coal mining machine is prone to collision with the top beam of the hydraulic support. Therefore, preventing collisions between the coal mining machine and the top beam of the hydraulic support is the key to intelligent coal mining machines and also the key to ensuring intelligent, safe and efficient coal mining in fully mechanized mining faces.
[0003] In existing technologies, collision detection between coal mining machines and supports is generally carried out through methods such as camera vision and AI. However, due to the large amount of dust and water vapor spray during the production process of fully mechanized mining faces, the camera video becomes blurry, making collision detection impossible. Therefore, how to prevent collisions between coal mining machines and supports and achieve early prediction or forecasting is a technical challenge. Summary of the Invention
[0004] This invention provides a method, device, computer storage medium, and storage medium for preventing collisions between a coal mining machine and hydraulic supports during the collaborative coal mining process.
[0005] In a first aspect, embodiments of this application provide a collision prevention method for a coal mining machine and hydraulic supports, applied to a coal mining machine on a fully mechanized mining face. The fully mechanized mining face is equipped with a coal mining machine and multiple hydraulic supports, which are arranged along the length of the fully mechanized mining face. The method includes: Receive the position information of each hydraulic support on the longwall mining face; Based on the current operating information and current position information of the coal mining machine, as well as the corresponding position information of each hydraulic support on the longwall mining face, the target hydraulic support for supporting the coal mining machine above the coal mining machine at the next moment is determined from multiple hydraulic supports; the current operating information of the coal mining machine includes the current operating direction information, the current operating speed information, and the current drum height information; the current position information of the coal mining machine includes the current position information of the coal mining machine on the longwall mining face. The current drum height information of the coal mining machine is sent to the target hydraulic support so that the target hydraulic support can adjust its posture in the next moment based on the current drum height information of the coal mining machine.
[0006] Optionally, before determining the target hydraulic support for supporting the coal mining machine above it at the next moment from multiple hydraulic supports, based on the current operating information and current position information of the coal mining machine, and the corresponding position information of each hydraulic support, the process further includes: Based on the track operation information of the coal mining machine, the current travel distance of the coal mining machine on the fully mechanized mining face is obtained; Based on the current travel distance of the coal mining machine, determine the current location of the coal mining machine.
[0007] Optionally, the coal mining machine is equipped with a first infrared transceiver device, which is used to send the current operating information and current position information of the coal mining machine to the hydraulic supports; the first infrared transceiver device is also used to receive the corresponding position information of each hydraulic support on the fully mechanized mining face.
[0008] Secondly, embodiments of this application provide a collision prevention method for a coal mining machine and hydraulic supports, applied to hydraulic supports on a fully mechanized mining face. The fully mechanized mining face is equipped with a coal mining machine and multiple hydraulic supports, which are arranged along the length of the fully mechanized mining face. The method includes: The position information of each hydraulic support on the longwall mining face is sent to the coal mining machine so that the coal mining machine can determine the target hydraulic support for the support above the coal mining machine at the next moment from multiple hydraulic supports based on the current running direction information and current position information of the coal mining machine, as well as the position information of each hydraulic support. After the target hydraulic support receives the current operating information sent by the coal mining machine, it adjusts the posture of the corresponding support at the next moment based on the current drum height information of the coal mining machine.
[0009] Optionally, the hydraulic support is equipped with a second infrared transceiver, which is used to send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine; the second infrared transceiver is also used to receive the current operating information sent by the coal mining machine.
[0010] Optionally, based on the current drum height information of the coal mining machine, the posture of the target hydraulic support is adjusted in the next moment, including: Based on the current drum height information of the coal mining machine and the limit height adjustment information of the top beam of the target hydraulic support, determine whether the top beam of the target hydraulic support will collide with the drum after it is adjusted to the limit height. If the top beam of the target hydraulic support collides with the drum after being adjusted to its limit height, a command will be sent to the coal mining machine to control the drum height adjustment at the next moment.
[0011] Optionally, the hydraulic support is equipped with an infrared positioning device, which is used to locate the position of the coal mining machine in real time. The infrared positioning device is also used to send the infrared positioning information of the coal mining machine to the coal mining machine so that the coal mining machine can determine its current position information based on the encoder position information and the infrared positioning information.
[0012] Thirdly, embodiments of this application provide an anti-collision device for a coal mining machine and hydraulic supports, applied to a coal mining machine on a fully mechanized mining face. The fully mechanized mining face is equipped with a coal mining machine and multiple hydraulic supports, which are arranged along the length of the fully mechanized mining face. The device includes: The information receiving module is used to receive the position information of each hydraulic support on the fully mechanized mining face. The target hydraulic support determination module is used to determine the target hydraulic support for supporting the coal mining machine at the next moment from multiple hydraulic supports, based on the current operating information and current position information of the coal mining machine, as well as the corresponding position information of each hydraulic support on the fully mechanized mining face. The current operating information of the coal mining machine includes the current operating direction information, current operating speed information, and current drum height information. The current position information of the coal mining machine includes the current position information of the coal mining machine on the fully mechanized mining face. The first information sending module is used to send the current drum height information of the coal mining machine to the target hydraulic support, so that the target hydraulic support can adjust its support posture in the next moment according to the current drum height information of the coal mining machine.
[0013] Fourthly, this application provides an anti-collision device for a coal mining machine and hydraulic supports, applied to hydraulic supports on a fully mechanized mining face. The fully mechanized mining face is equipped with a coal mining machine and multiple hydraulic supports, which are arranged along the length of the fully mechanized mining face. The device includes: The second information sending module is used to send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine, so that the coal mining machine can determine the target hydraulic support for the support above the coal mining machine at the next moment from multiple hydraulic supports based on the current running direction information and current position information of the coal mining machine, as well as the position information of each hydraulic support. The support posture adjustment module is used to adjust the support posture of the target hydraulic support in the next moment based on the current drum height information of the coal mining machine after the target hydraulic support receives the current operating information sent by the coal mining machine.
[0014] Fifthly, embodiments of this application provide a computer storage medium, the device including a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When the processor executes the program stored in the memory, it implements the steps of the anti-collision processing method for the coal mining machine and hydraulic support provided in the first aspect of the embodiments of this application.
[0015] In this embodiment, the target hydraulic support for supporting the coal mining machine at the next moment can be determined from multiple hydraulic supports based on the current operating information and current position information of the coal mining machine, as well as the corresponding position information of each hydraulic support on the fully mechanized mining face. The target hydraulic support can then adjust its posture at the next moment based on the current drum height information sent by the coal mining machine. This can prevent collisions between the coal mining machine and the hydraulic supports during the collaborative coal mining process. Attached Figure Description
[0016] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0017] Figure 1 This is a schematic flowchart of a collision prevention method for a coal mining machine and a hydraulic support provided in an embodiment of this application; Figure 2 This is a schematic flowchart of another anti-collision treatment method for a coal mining machine and hydraulic support provided in an embodiment of this application; Figure 3 This is a schematic diagram of the anti-collision treatment device for a coal mining machine and a hydraulic support provided in an embodiment of this application; Figure 4 This is a schematic diagram of another anti-collision treatment device for a coal mining machine and hydraulic support provided in an embodiment of this application; Figure 5 This is a schematic diagram of the structure of the computer storage medium provided in the embodiments of this application. Detailed Implementation
[0018] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.
[0019] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.
[0020] The anti-collision treatment method, device, computer storage medium, and medium for coal mining machines and hydraulic supports provided in this application will be described in detail below with reference to the accompanying drawings and through specific embodiments and application scenarios.
[0021] Those skilled in the art will understand that the anti-collision processing method for coal mining machines and hydraulic supports provided in the embodiments of this application can be executed by a single or distributed processor of a computer storage medium. There can be one or more processors. In the case of multiple processors, the multiple processors can be electrically connected or communicatively connected, and jointly execute the anti-collision processing method for coal mining machines and hydraulic supports provided in the embodiments of this application as modules with different functions.
[0022] Figure 1 This is a schematic flowchart illustrating a collision prevention method for a coal mining machine and a hydraulic support, as provided in the first aspect of this application. Figure 1 As shown, the first aspect of this application provides a collision prevention method for a coal mining machine and hydraulic supports, applied to a coal mining face. The coal mining face is provided with a coal mining machine and multiple hydraulic supports, which are arranged along the length direction of the coal mining face. The method includes the following steps: Step S110: Receive the position information of each hydraulic support on the fully mechanized mining face.
[0023] It should be noted that the width of the top beam of each hydraulic support is in the same direction as the length of the longwall mining face.
[0024] Here, each hydraulic support on the longwall mining face is pre-placed on the longwall mining face. Therefore, the position information of each hydraulic support on the longwall mining face is known. Thus, each hydraulic support can send its position information on the longwall mining face to the mining machine. The position information of the hydraulic support on the longwall mining face includes the number of the hydraulic support and the distance between the hydraulic support and the end or end of the longwall mining face.
[0025] Step S120: Based on the current operating information and current position information of the coal mining machine, as well as the corresponding position information of each hydraulic support on the fully mechanized mining face, determine the target hydraulic support for supporting the coal mining machine above the coal mining machine at the next moment from multiple hydraulic supports.
[0026] The current operating information of the coal mining machine includes the current operating direction, current operating speed, and current drum height; the current position information of the coal mining machine includes the current position of the coal mining machine on the fully mechanized mining face.
[0027] This step also includes sending the current operating information and current location information of the coal mining machine to each hydraulic support on the fully mechanized mining face, so that each hydraulic support can obtain the movement trajectory and operating information of the coal mining machine on the fully mechanized mining face.
[0028] Here, based on the current position information of the coal mining machine and the corresponding position information of each hydraulic support on the fully mechanized mining face, the hydraulic support supporting the coal mining machine at the current moment can be determined; then, based on the current running direction information of the coal mining machine, the moving direction of the coal mining machine can be determined; furthermore, based on the current hydraulic support supporting the coal mining machine, the moving direction, and the current running speed information, the target hydraulic support supporting the coal mining machine at the next moment can be determined from multiple hydraulic supports.
[0029] Step S130: Send the current drum height information of the coal mining machine to the target hydraulic support so that the target hydraulic support can adjust its support posture at the next moment based on the current drum height information of the coal mining machine.
[0030] By sending the current drum height information of the coal mining machine to the target hydraulic support, the target hydraulic support can adjust its posture in the next moment based on the current drum height information of the coal mining machine, so as to avoid collision between the target support and the drum of the coal mining machine in the next moment.
[0031] Using the above method, based on the current operating information and position information of the coal mining machine, as well as the corresponding position information of each hydraulic support on the fully mechanized mining face, the target hydraulic support for supporting the coal mining machine above the coal mining machine at the next moment can be determined from multiple hydraulic supports. The target hydraulic support can then adjust its support posture at the next moment based on the current drum height information sent by the coal mining machine. This can prevent collisions between the coal mining machine and the hydraulic supports during the collaborative coal mining process.
[0032] In some possible embodiments, before determining the target hydraulic support for supporting the coal mining machine above it at the next moment from multiple hydraulic supports, based on the current operating information and current position information of the coal mining machine, and the corresponding position information of each hydraulic support, the following steps may also be included: Step S210: Based on the track operation information of the coal mining machine, obtain the current travel distance information of the coal mining machine on the fully mechanized mining face.
[0033] It should be noted that the track movement information of the coal mining machine is obtained from the encoder installed on the coal mining machine.
[0034] Step S220: Determine the current position information of the coal mining machine based on the current travel distance information of the coal mining machine.
[0035] Here, the current distance traveled by the coal mining machine on the fully mechanized mining face can be understood as: the distance traveled by the coal mining machine from the beginning or end of the fully mechanized mining face to the current moment.
[0036] By using the above method, the current travel distance of the coal mining machine on the fully mechanized mining face can be determined by real-time acquisition of the track operation information. This allows for the rapid determination of the current position of the coal mining machine based on its current travel distance, thereby improving the positioning efficiency of the coal mining machine.
[0037] In some possible embodiments, the coal mining machine is equipped with a first infrared transceiver device, which is used to send the current operating information and current position information of the coal mining machine to the hydraulic supports; the first infrared transceiver device is also used to receive the corresponding position information of each hydraulic support on the fully mechanized mining face.
[0038] The first infrared transceiver device includes a first infrared transmitting module, a first infrared receiving module, and a first communication module; wherein, the first communication module is one of an RS485 communication module, a BLE communication module, and a CAN communication module, the first infrared receiving module is used to receive the corresponding position information of each hydraulic support on the fully mechanized mining face, and the first infrared transmitting module is used to send the current operating information and current position information of the coal mining machine to the hydraulic supports.
[0039] Because infrared data transceivers have unique advantages in terms of security, anti-interference, low cost, and low power consumption, and are especially suitable for short-range linear control scenarios, this embodiment uses a first infrared transceiver device on the coal mining machine to transmit the current operating information and current position information of the coal mining machine to the hydraulic supports, and to enable the coal mining machine to receive the corresponding position information of each hydraulic support on the longwall mining face. This improves the anti-interference capability when information is exchanged between the coal mining machine and the hydraulic supports, thereby enhancing the accuracy of data exchange between the coal mining machine and the hydraulic supports.
[0040] Figure 2 This application provides a collision prevention method for a coal mining machine and hydraulic supports, applicable to hydraulic supports on a fully mechanized mining face. The fully mechanized mining face is equipped with a coal mining machine and multiple hydraulic supports, which are arranged along the length of the fully mechanized mining face. The method includes: Step S310: Send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine, so that the coal mining machine can determine the target hydraulic support for the coal mining machine above the coal mining machine at the next moment based on the current running direction information and current position information of the coal mining machine, as well as the position information of each hydraulic support.
[0041] Step S320: After the target hydraulic support receives the current operating information sent by the coal mining machine, it adjusts the support posture corresponding to the target hydraulic support at the next moment according to the current drum height information of the coal mining machine.
[0042] Here, the support posture of the hydraulic support includes the tilt posture of the top beam.
[0043] By using the above method, the position information of each hydraulic support on the longwall mining face is sent to the coal mining machine, so that the coal mining machine can determine the target hydraulic support for the upper support of the coal mining machine at the next moment from multiple hydraulic supports. After the target hydraulic support receives the current operating information sent by the coal mining machine, it adjusts the support posture of the target hydraulic support at the next moment according to the current drum height information of the coal mining machine. This can prevent the coal mining machine from colliding with each hydraulic support during the coal mining process.
[0044] In some possible embodiments, the hydraulic support is equipped with a second infrared transceiver, which is used to send the position information of each hydraulic support on the longwall mining face to the coal mining machine; the second infrared transceiver is also used to receive the current operating information sent by the coal mining machine.
[0045] The second infrared transceiver includes a second infrared transmitting module, a second infrared receiving module, and a second communication module. The second communication module is one of an RS485 communication module, a BLE communication module, and a CAN communication module. The second infrared receiving module is used to receive the current operating information sent by the coal mining machine, and the second infrared transmitting module is used to send the corresponding position information of each hydraulic support on the fully mechanized mining face to the coal mining machine.
[0046] In this embodiment, by setting a second infrared transceiver on the hydraulic support, the position information of each hydraulic support on the fully mechanized mining face can be sent to the coal mining machine, and the current operating information sent by the coal mining machine can be received. This can improve the anti-interference ability when information is communicated between the hydraulic support and the coal mining machine, and thus improve the accuracy of the data exchanged between the coal mining machine and the hydraulic support.
[0047] In some possible implementations, adjusting the posture of the target hydraulic support at the next moment based on the current drum height information of the coal mining machine may include the following steps: Step S410: Based on the current drum height information of the coal mining machine and the limit height adjustment information of the top beam of the target hydraulic support, determine whether the top beam of the target hydraulic support will collide with the drum after it is adjusted to the limit height.
[0048] Here, when the top beam of the target hydraulic support is adjusted to its limit height, if at least a portion of the bottom of the top beam is lower than the current height of the drum of the coal mining machine, it is assumed that the top beam will collide with the drum after the top beam of the target hydraulic support is adjusted to its limit height.
[0049] Step S420: If the top beam of the target hydraulic support will collide with the drum after it is adjusted to the limit height, a command with the instruction to control the adjustment of the drum height of the coal mining machine at the next moment will be sent to the coal mining machine.
[0050] Here, after the coal mining machine receives an instruction to adjust the height of the coal mining machine drum in the next moment, the coal mining machine controller drum moves downward to avoid colliding with the bottom of the top beam of the target hydraulic support in the next moment.
[0051] Using the above method, if it is determined that the top beam of the target hydraulic support will collide with the drum after it is adjusted to its limit height, a command with the control of the drum height adjustment of the coal mining machine at the next moment is sent to the coal mining machine. This achieves synchronous adjustment control of the target hydraulic support and the drum, so as to avoid the problem that the top beam of the target hydraulic support cannot avoid collision with the drum of the coal mining machine after it is adjusted to its limit height.
[0052] In some possible embodiments, the hydraulic support is equipped with an infrared positioning device, which is used to locate the position of the coal mining machine in real time. The infrared positioning device is also used to send the infrared positioning information of the coal mining machine to the coal mining machine so that the coal mining machine can determine its current position information based on the encoder position information and the infrared positioning information.
[0053] Here, the coal mining machine determines its current position information based on the encoder position information and infrared positioning information. This may include: if the deviation between the encoder position information and the infrared positioning information exceeds a preset range, the encoder position information of the coal mining machine is updated based on the infrared positioning information, and the current position information of the coal mining machine is determined as the infrared positioning information.
[0054] Furthermore, when the coal mining machine moves to the head or tail of the fully mechanized mining face, if the encoder position information of the coal mining machine and the infrared positioning information of the coal mining machine by the infrared positioning device on the hydraulic support at the head or tail of the fully mechanized mining face are inconsistent, the encoder position information of the coal mining machine will be calibrated according to the infrared positioning information of the coal mining machine by the infrared positioning device, so that the encoder position information and the infrared positioning information of the coal mining machine at the head or tail of the fully mechanized mining face are consistent.
[0055] Please see Figure 3 The third aspect of this application provides a schematic diagram of an anti-collision treatment device for a coal mining machine and hydraulic supports. This device is applied to a coal mining machine on a fully mechanized mining face. The fully mechanized mining face is equipped with a coal mining machine and multiple hydraulic supports, which are arranged along the length of the fully mechanized mining face. The device includes: Information receiving module 510 is used to receive the position information of each hydraulic support on the fully mechanized mining face; The target hydraulic support determination module 520 is used to determine the target hydraulic support for supporting the coal mining machine at the next moment from multiple hydraulic supports based on the current operating information and current position information of the coal mining machine, as well as the corresponding position information of each hydraulic support on the fully mechanized mining face. The current operating information of the coal mining machine includes the current operating direction information, the current operating speed information, and the current drum height information. The current position information of the coal mining machine includes the current position information of the coal mining machine on the fully mechanized mining face. The first information sending module 530 is used to send the current drum height information of the coal mining machine to the target hydraulic support, so that the target hydraulic support can adjust its support posture in the next moment according to the current drum height information of the coal mining machine.
[0056] Optionally, the device further includes: The travel distance information determination module is used to obtain the current travel distance information of the coal mining machine on the fully mechanized mining face based on the track operation information of the coal mining machine; The coal mining machine position determination module is used to determine the current position of the coal mining machine based on its current travel distance information.
[0057] Optionally, the coal mining machine is equipped with a first infrared transceiver device, which is used to send the current operating information and current position information of the coal mining machine to the hydraulic supports; the first infrared transceiver device is also used to receive the corresponding position information of each hydraulic support on the fully mechanized mining face.
[0058] The anti-collision treatment device for coal mining machine and hydraulic support provided in the third aspect of the present application can realize the various processes implemented by the method embodiment provided in the first aspect of the present application and achieve the same beneficial effects. To avoid repetition, it will not be described again here.
[0059] Please see Figure 4 A schematic diagram of another anti-collision treatment device for a coal mining machine and hydraulic supports provided in the fourth aspect embodiment of this application. This device is applied to hydraulic supports on a fully mechanized mining face. A coal mining machine and multiple hydraulic supports are provided on the fully mechanized mining face, and the multiple hydraulic supports are arranged along the length direction of the fully mechanized mining face. The device includes: The second information sending module 610 is used to send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine, so that the coal mining machine can determine the target hydraulic support for the support above the coal mining machine at the next moment from multiple hydraulic supports based on the current running direction information and current position information of the coal mining machine, as well as the position information of each hydraulic support. The support posture adjustment module 620 is used to adjust the support posture of the target hydraulic support in the next moment according to the current moment drum height information of the coal mining machine after the target hydraulic support receives the current moment operation information sent by the coal mining machine.
[0060] Optionally, the hydraulic support is equipped with a second infrared transceiver, which is used to send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine; the second infrared transceiver is also used to receive the current operating information sent by the coal mining machine.
[0061] Optionally, the support posture adjustment module 620 includes: The collision determination unit is used to determine whether the top beam of the target hydraulic support will collide with the drum after the top beam of the target hydraulic support is adjusted to the limit height, based on the current drum height information of the coal mining machine and the limit height adjustment information of the top beam of the target hydraulic support. The height adjustment command sending unit is used to send a command to the coal mining machine that controls the height adjustment of the coal mining machine drum at the next moment if the top beam of the target hydraulic support will collide with the drum after the top beam is adjusted to the limit height.
[0062] Optionally, the hydraulic support is equipped with an infrared positioning device, which is used to locate the position of the coal mining machine in real time. The infrared positioning device is also used to send the infrared positioning information of the coal mining machine to the coal mining machine so that the coal mining machine can determine its current position information based on the encoder position information and the infrared positioning information.
[0063] The anti-collision treatment device for coal mining machine and hydraulic support provided in the fourth aspect of this application can realize the various processes implemented in the method embodiment provided in the second aspect of this application and achieve the same beneficial effects. To avoid repetition, it will not be described again here.
[0064] Please see Figure 5 This is a schematic diagram of the structure of a computer storage medium provided in an embodiment of this application. A third aspect of this application provides a computer storage medium 700, including a processor 710 and a memory 720. The memory 720 stores machine-executable instructions that can be executed by the processor 710. The processor 710 can execute the machine-executable instructions to implement the above-mentioned anti-collision processing method for coal mining machines and hydraulic supports.
[0065] A fourth aspect of this application provides a machine-readable storage medium storing instructions that, when executed by a processor, cause the processor to implement the aforementioned anti-collision processing method for the coal mining machine and hydraulic support.
[0066] In one embodiment of this application, a computer program product is also provided, including a computer program that, when executed by a processor, implements the anti-collision processing method for the coal mining machine and hydraulic support according to the above embodiments.
[0067] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.
[0068] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 The computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The functions specified in one or more boxes. These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable apparatus for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.
[0069] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.
[0070] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.
[0071] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.
[0072] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.
[0073] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.
[0074] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.
Claims
1. A method for preventing collisions between a coal mining machine and hydraulic supports, applied to a coal mining machine on a fully mechanized mining face, wherein the fully mechanized mining face is provided with a coal mining machine and multiple hydraulic supports, the multiple hydraulic supports being arranged along the length direction of the fully mechanized mining face, characterized in that, The method includes: Receive the position information of each hydraulic support on the fully mechanized mining face; Based on the current operating information and current position information of the coal mining machine, and the corresponding position information of each hydraulic support on the longwall mining face, the target hydraulic support for supporting the coal mining machine above the coal mining machine at the next moment is determined from the multiple hydraulic supports; the current operating information of the coal mining machine includes the current operating direction information, the current operating speed information, and the current drum height information; the current position information of the coal mining machine includes the position information of the coal mining machine on the longwall mining face at the current moment; The current drum height information of the coal mining machine is sent to the target hydraulic support so that the target hydraulic support can adjust its posture at the next moment based on the current drum height information of the coal mining machine.
2. The method according to claim 1, characterized in that, Before determining the target hydraulic support for supporting the coal mining machine above it at the next moment from among the multiple hydraulic supports based on the current operating information and current position information of the coal mining machine, and the corresponding position information of each hydraulic support, the method further includes: Based on the track operation information of the coal mining machine, the current travel distance of the coal mining machine on the fully mechanized mining face is obtained; Based on the current travel distance of the coal mining machine, the current position information of the coal mining machine is determined.
3. The method according to claim 1, characterized in that, The coal mining machine is equipped with a first infrared transceiver device, which is used to send the current operating information and current position information of the coal mining machine to the hydraulic support; the first infrared transceiver device is also used to receive the corresponding position information of each hydraulic support on the fully mechanized mining face.
4. A method for preventing collisions between a coal mining machine and hydraulic supports, applied to hydraulic supports on a fully mechanized mining face, wherein a coal mining machine and multiple hydraulic supports are provided on the fully mechanized mining face, and the multiple hydraulic supports are arranged along the length direction of the fully mechanized mining face, characterized in that... The method includes: The position information of each hydraulic support on the longwall mining face is sent to the coal mining machine so that the coal mining machine can determine the target hydraulic support for the support above the coal mining machine at the next moment from the multiple hydraulic supports based on the current running direction information and current position information of the coal mining machine, as well as the position information of each hydraulic support. After the target hydraulic support receives the current operating information sent by the coal mining machine, it adjusts the support posture corresponding to the target hydraulic support at the next moment according to the current drum height information of the coal mining machine.
5. The method according to claim 4, characterized in that, The hydraulic support is equipped with a second infrared transceiver, which is used to send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine; the second infrared transceiver is also used to receive the current operating information sent by the coal mining machine.
6. The method according to claim 4, characterized in that, The step of adjusting the posture of the target hydraulic support at the next moment based on the current drum height information of the coal mining machine includes: Based on the current drum height information of the coal mining machine and the limit height adjustment information of the top beam of the target hydraulic support, it is determined whether the top beam of the target hydraulic support will collide with the drum after it is adjusted to the limit height. If the top beam of the target hydraulic support collides with the drum after being adjusted to its limit height, an instruction to control the height adjustment of the drum of the coal mining machine at the next moment will be sent to the coal mining machine.
7. The method according to claim 4, characterized in that, The hydraulic support is equipped with an infrared positioning device, which is used to locate the position of the coal mining machine in real time. The infrared positioning device is also used to send the infrared positioning information of the coal mining machine to the coal mining machine so that the coal mining machine can determine its current position information based on the encoder position information of the coal mining machine and the infrared positioning information.
8. A collision prevention device for a coal mining machine and hydraulic supports, applied to a coal mining machine on a fully mechanized mining face, wherein the fully mechanized mining face is provided with a coal mining machine and multiple hydraulic supports, the multiple hydraulic supports being arranged along the length direction of the fully mechanized mining face, characterized in that, The device includes: The information receiving module is used to receive the position information of each of the hydraulic supports on the fully mechanized mining face. The target hydraulic support determination module is used to determine the target hydraulic support for supporting the coal mining machine at the next moment from multiple hydraulic supports, based on the current operating information and current position information of the coal mining machine, and the corresponding position information of each hydraulic support on the fully mechanized mining face. The current operating information of the coal mining machine includes the current operating direction information, the current operating speed information, and the current drum height information. The current position information of the coal mining machine includes the position information of the coal mining machine on the fully mechanized mining face at the current moment. The first information sending module is used to send the current drum height information of the coal mining machine to the target hydraulic support, so that the target hydraulic support can adjust its support posture at the next moment according to the current drum height information of the coal mining machine.
9. A collision prevention device for a coal mining machine and hydraulic supports, applied to hydraulic supports on a fully mechanized mining face, wherein a coal mining machine and multiple hydraulic supports are provided on the fully mechanized mining face, and the multiple hydraulic supports are arranged along the length direction of the fully mechanized mining face, characterized in that, The device includes: The second information sending module is used to send the position information of each hydraulic support on the fully mechanized mining face to the coal mining machine, so that the coal mining machine can determine the target hydraulic support for the support above the coal mining machine at the next moment from the multiple hydraulic supports based on the current running direction information and current position information of the coal mining machine, as well as the position information of each hydraulic support. The support posture adjustment module is used to adjust the support posture of the target hydraulic support at the next moment based on the current moment drum height information of the coal mining machine after the target hydraulic support receives the current moment operation information sent by the coal mining machine.
10. A computer storage medium, characterized in that, The computer storage medium includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; Memory, used to store computer programs; When a processor executes a program stored in a memory, it implements the steps of the anti-collision treatment method for the coal mining machine and hydraulic support as described in any one of claims 1-7.