Optimization method, device and system for cutting path of upward mining

Abstract

This invention provides a method, apparatus, and system for optimizing the cutting path in upward mining, relating to the field of coal resource mining technology. The method includes: optimizing the path based on the settlement curve and the kinematic chain using a modified FABRIK method to obtain updated spatial coordinates of all nodes; optimizing the kinematic chain path using anti-bite constraints and anti-leakage constraints using the modified FABRIK method; anti-bite constraints constrain the angles of adjacent segments in the continuous line segment formed by the kinematic chain; anti-leakage constraints constrain the distance from nodes to the settlement curve and / or the curvature of the node curve; and determining the movement control command for each hydraulic support of the coal mining machine based on the initial and updated spatial coordinates of all nodes. This invention addresses the problem of how to provide a cutting path optimization method for upper coal seams that both conforms to the settlement curve and satisfies mechanical constraints near the inflection point of rapid settlement.

Description

Technical Field

[0001] This invention relates to the field of coal resource mining technology, specifically to a method, device, system, machine-readable storage medium, and computer program product for optimizing the cutting path in upward mining. Background Technology

[0002] In my country's coal mining, multiple coal seams are common. While the traditional downward mining method (mining the upper seam first, then the lower seam) is technically mature, under certain specific geological conditions (such as an extremely unstable roof over the upper coal seam, very close inter-seam spacing, or a steeply dipping lower coal seam), upward mining (mining the lower seam first, then the upper seam) becomes a more scientific choice. The biggest challenge of upward mining is that the continuity of the upper coal seam is disrupted after the lower seam is mined. As the roof of the lower goaf collapses, fractures, and bends and subsides, the upper coal seam subsides accordingly. This subsidence is not linear but exhibits complex nonlinear curve characteristics (usually conforming to the probability integral method of a subsidence basin model).

[0003] There is currently no solution for optimizing the cutting path of upper coal seams near the inflection point of rapid subsidence. The following are some existing coal seam cutting optimization techniques: Manual experience-based control: This is still the mainstream method used in most mines, especially in areas with complex geological conditions. The coal mining machine operator and support workers visually observe the undulations of the working face floor and manually operate the raising and lowering of the coal mining machine drum and the extension and retraction of the hydraulic support jacks based on experience. The disadvantage of manual experience-based control is that the working face consists of hundreds of hydraulic supports, and manual operation is limited to individual supports or groups, making it impossible to consider the overall geometry. This can easily lead to uneven movement of adjacent supports at inflection points, causing "support squeezing" (support spacing too small) or "support biting" (interference due to misalignment of adjacent support top beams). Once this occurs, adjustments are extremely difficult, severely impacting mining efficiency.

[0004] Path planning based on memory-based cutting: This is a common feature in modern automated coal mining machines. The system records the cutting trajectory data (drum height curve) of the previous cut (or the previous few cuts) as the control reference for the current cut. The system assumes that the geological conditions of the coal seam change slowly in the strike direction, directly reusing or correcting historical paths through simple smoothing algorithms. A drawback of path planning based on memory-based cutting is its inability to adapt to nonlinear settlement. In upward mining, the settlement of the overlying strata is uneven and dynamically changes with the advancement of the working face. The location of inflection points may drift with the advance. Memory-based cutting, based on "predicting the future from historical data," suffers significantly amplified prediction errors in inflection point areas where the floor morphology undergoes abrupt changes.

[0005] Therefore, there is an urgent need for a method to optimize the cutting path of the upper coal seam near the inflection point of rapid settlement, which both conforms to the settlement curve and meets mechanical constraints. Summary of the Invention

[0006] The purpose of this invention is to provide a method, apparatus, and system for optimizing the cutting path in upward mining, in order to solve the problem of how to provide a method for optimizing the cutting path of the upper coal seam near the inflection point of rapid settlement that both conforms to the settlement curve and meets mechanical constraints.

[0007] To achieve the above objectives, embodiments of the present invention provide a method for optimizing the cutting path in uplink mining, comprising: Acquire the settlement curve and kinematic chain of the target coal seam; the kinematic chain represents a chain-like structure composed of multiple nodes; each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the kinematic chain is equal; The improved FABRIK method is used to optimize the path based on the settlement curve and the kinematic chain, obtaining the updated spatial coordinates of all nodes. The improved FABRIK method uses anti-bite constraints and anti-leakage constraints to optimize the path of the kinematic chain. The anti-bite constraints are used to constrain the angles of adjacent line segments in the continuous line segments formed by the kinematic chain. The anti-leakage constraints are used to constrain the distance from the nodes in the kinematic chain to the settlement curve and / or the curvature of the curve of the nodes. Based on the initial spatial coordinates and the updated spatial coordinates of all nodes, the movement control command for each hydraulic support of the coal mining machine is determined.

[0008] Optionally, the improved FABRIK method is used to perform path optimization based on the settlement curve and the kinematic chain to obtain the updated spatial coordinates of all nodes, including: Repeat the following steps until the set termination condition is met: The anti-leakage gangue constraint is used to constrain the distance from all nodes in the kinematic chain to the settlement curve and / or the curvature of the curve of all nodes; Based on the direction from the end node to the root node of the kinematic chain, the initial spatial coordinates of all nodes are corrected backward using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes. Based on the direction from the root node to the end node of the kinematic chain, the intermediate spatial coordinates of all nodes are corrected forward using the anti-bite frame constraint to obtain the candidate spatial coordinates of all nodes; wherein, the candidate spatial coordinates of all nodes under the condition of reaching the set termination condition are used as the updated spatial coordinates of all nodes.

[0009] Optionally, the anti-leakage gangue constraint is expressed by the following formula: d min <d i <d max and / or R i >R min ; in, d i This represents the distance from node i of the kinematic chain to the settlement curve. d min This indicates setting a minimum distance. d min This indicates that the maximum distance is set. R i This represents the reciprocal of the curvature of the curve at node i of the kinematic chain; R min This represents the minimum value of the reciprocal of the curvature of the set curve.

[0010] Optionally, the step of correcting the initial spatial coordinates of all nodes backward based on the direction from the end node to the root node of the kinematic chain using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes includes: The update position of each node is determined based on the direction from the end node to the root node of the kinematic chain; The absolute angle difference between the first vector and the second vector after determining the updated position of each node; the first vector is the vector formed between the first node and the second node adjacent to it in the direction from the end node to the root node; the second vector is the vector formed between the first node and the third node adjacent to it in the direction from the root node to the end node; the first node is any node in the kinematic chain; If the absolute angle difference is greater than the set maximum deflection angle, the first vector is rotated to limit the absolute angle difference to the set maximum deflection angle, thus obtaining an improved first vector; Based on the first node and the improved first vector, the intermediate spatial coordinates of the second node are determined.

[0011] Optionally, the step of correcting the intermediate spatial coordinates of all nodes using the anti-bite frame constraint based on the direction from the root node to the end node of the kinematic chain to obtain the candidate spatial coordinates of all nodes includes: The update position of each node is determined based on the direction from the root node to the end node of the kinematic chain; The absolute angle difference between the third and fourth vectors after determining the updated position of each node is determined; the third vector is the vector formed between the fourth node and the fifth node adjacent in the direction from the root node to the end node; the fourth vector is the vector formed between the fourth node and the sixth node adjacent in the direction from the end node to the root node; the fourth node is any node in the kinematic chain. If the absolute angle difference is greater than the set maximum deflection angle, the third vector is rotated to limit the absolute angle difference to the set maximum deflection angle, thus obtaining an improved third vector; Based on the fourth node and the improved third vector, the candidate spatial coordinates of the fifth node are determined.

[0012] Optionally, determining the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes includes: The horizontal movement command for each hydraulic support of the coal mining machine is determined based on the difference between the x-axis coordinate of the initial spatial coordinates and the x-axis coordinate of the updated spatial coordinates of each node. The height adjustment command for each hydraulic support of the coal mining machine is determined based on the difference between the initial z-axis coordinate and the updated z-axis coordinate of each node.

[0013] On the other hand, embodiments of the present invention also provide a cutting path optimization device for uphill mining, comprising: The acquisition module is used to acquire the settlement curve and motion chain of the target coal seam; the motion chain represents a chain-like structure composed of multiple nodes; each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the motion chain is equal; An optimization module is used to perform path optimization based on the settlement curve and the kinematic chain using an improved FABRIK method to obtain the updated spatial coordinates of all nodes. The improved FABRIK method uses anti-bite constraints and anti-leakage constraints to optimize the path of the kinematic chain. The anti-bite constraints are used to constrain the angles of adjacent line segments in the continuous line segments formed by the kinematic chain. The anti-leakage constraints are used to constrain the distance from the nodes in the kinematic chain to the settlement curve and / or the curvature of the node curve. The determination module is used to determine the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes.

[0014] On the other hand, embodiments of the present invention also provide a cutting path optimization system for uplink mining, including a sensing mechanism, an execution mechanism, and a controller electrically connected to the sensing mechanism and the execution mechanism respectively; The sensing mechanism is at least used to acquire the settlement curve of the target coal seam and to send the settlement curve to the controller; The controller is used to execute the above-described uplink mining cut path optimization method; The actuator is used to execute the movement control commands output by the controller.

[0015] On the other hand, the present invention also provides a machine-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described uplink mining cut path optimization method.

[0016] On the other hand, the present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described uplink mining cut path optimization method.

[0017] Through the above technical solution, this embodiment of the invention utilizes an improved FABRIK method to optimize the path of the kinematic chain using anti-bite constraints and anti-leakage constraints. Anti-bite constraints constrain the angles of adjacent segments in the continuous line segments formed by the kinematic chain, ensuring that all hydraulic supports meet mechanical constraints. Anti-leakage constraints constrain the distance from nodes in the kinematic chain to the settlement curve and / or the curvature of the node curve, ensuring that the updated spatial coordinates of all nodes conform to the settlement curve. By incorporating anti-bite constraints and anti-leakage constraints into the FABRIK method, this embodiment of the invention achieves rapid iterative solution to obtain the optimal node coordinates that both conform to the settlement curve and satisfy the mechanical constraints between each hydraulic support of the coal mining machine. Therefore, this embodiment of the invention provides a method for optimizing the cutting path of an upper coal seam near the inflection point of rapid settlement, ensuring that it conforms to the settlement curve and satisfies mechanical constraints.

[0018] Other features and advantages of the embodiments of the present invention will be described in detail in the following detailed description section. Attached Figure Description

[0019] The accompanying drawings are provided to further illustrate embodiments of the present invention and form part of the specification. They are used together with the following detailed description to explain the embodiments of the present invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a flowchart illustrating the cutting path optimization method for upward mining provided by the present invention. Figure 2 This is a schematic diagram of the upward mining structure provided by the present invention; Figure 3 This is a schematic diagram of the settlement curve provided by the present invention; Figure 4 This is a schematic diagram illustrating the occurrence of leakage and blockage phenomena provided by the present invention; Figure 5This is a schematic diagram of the update cut path formed by the update spatial coordinates of the motion chain node provided by the present invention; Figure 6 This is a schematic diagram of the cutting path optimization device for upward mining provided by the present invention. Figure 7 This is a flowchart illustrating the cutting path optimization system for upward mining provided by the present invention. Detailed Implementation

[0020] The specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of the present invention.

[0021] The biggest challenge in upward mining lies in the disruption of the continuity of the upper coal seam after the lower coal seam is mined. As the roof of the lower goaf collapses, fractures, and bends, the upper coal seam subsides. This subsidence is not linear but exhibits complex nonlinear curve characteristics (typically conforming to a subsidence basin model using probability integral methods). Particularly near the inflection point of the subsidence curve, it manifests as: abrupt curvature changes: the coal seam floor changes from concave to convex (or vice versa), with a sharp decrease in the radius of curvature; dramatic slope changes: the rate of change of dip angle in the direction of face advance is the greatest; and uneven floor: localized floor steps or fissures are present.

[0022] Currently, there is no solution for optimizing the cutting path of the upper coal seam near the inflection point of rapid subsidence during upward mining. The following are some existing coal seam cutting optimization techniques: Manual experience-based control: This is still the mainstream method used in most mines, especially in areas with complex geological conditions. The coal mining machine operator and the support worker observe the undulations of the working face floor with the naked eye and manually operate the raising and lowering of the coal mining machine drum and the extension and retraction of the hydraulic support jacks based on experience.

[0023] Path planning based on memory-based cutting: This is a common feature in modern automated coal mining machines. The system records the cutting trajectory data (drum height curve) of the previous cut (or the previous few cuts) as the control reference for the current cutter. The system assumes that the geological conditions of the coal seam change slowly in the strike direction, directly reusing or correcting historical paths through a simple smoothing algorithm.

[0024] Automatic straightening based on traditional curve fitting (such as least squares method, cubic spline interpolation): This is an algorithmic approach being attempted in some intelligent mines. It utilizes base plate data points collected by sensors to generate a smooth cut curve using polynomial fitting, least squares linear fitting, or cubic spline interpolation.

[0025] Disadvantages of manual experience-based control: 1) Lag and blindness: Underground dust and poor visibility make it difficult for operators to see the entire working face, which is hundreds of meters long. At the inflection point of the settlement curve, the slope of the floor changes drastically and non-linearly, often resulting in lag in manual operation and potential "top cutting" or "bottom cutting." 2) Lack of coordination: The working face consists of hundreds of hydraulic supports, and operators can only operate one or in groups, making it impossible to consider the overall geometry. This can easily lead to uneven movement of adjacent supports at inflection points, causing "support squeezing" (insufficient support spacing) or "support biting" (interference due to misalignment of adjacent support top beams). Once this occurs, adjustments are extremely difficult, severely impacting mining efficiency. 3) Inability to quantify constraints: Operators cannot accurately perceive whether the angle between adjacent chutes exceeds mechanical limits (e.g., 5 degrees).

[0026] Disadvantages of path planning based on memory-based cutting: 1) Incompatible with nonlinear settlement: In uphill mining, the settlement of the overlying strata is uneven and dynamically changes with the advancement of the working face. The location of inflection points may drift with the advancement. Memory-based cutting, which predicts the future based on historical data, will have its prediction error significantly amplified in inflection point areas where the bottom morphology changes abruptly. 2) Error accumulation: Once a cutter makes a cutting deviation at an inflection point (such as cutting too much rock), memory-based cutting will remember this error and carry it into the next cut, causing the bottom shape of the working face to gradually deteriorate, and even forming artificial "false steps". 3) Lack of kinematic constraints: Memory-based cutting mainly focuses on the height trajectory of the drum, without considering the multi-body kinematic constraints of the scraper conveyor and hydraulic support. The path it generates may be mathematically smooth, but physically it requires the scraper conveyor to make movements beyond its bending limits, leading to equipment damage.

[0027] The drawbacks of traditional curve fitting include: 1) Ignoring equal-length constraints: Traditional mathematical fitting algorithms typically assume that points are continuous or freely distributed. However, fully mechanized mining equipment is "segmented rigid" (each chute section is fixed at 1.5 meters or 1.75 meters in length). The spacing between sampling points on a conventional fitted curve cannot be strictly guaranteed to be equal to the equipment length, resulting in calculated coordinates that cannot be directly used to guide the movement of the jacks. 2) Difficulty in handling hard constraints: Spline interpolation pursues global smoothness of the curve (continuity of the second derivative), but this often leads to "overfitting" or "oscillation" (Runge phenomenon) at inflection points. More importantly, traditional algorithms struggle to directly embed nonlinear inequality constraints such as "angle between adjacent line segments ≤ 5°". To satisfy smoothness, the curve generated by the algorithm may require the support to make physically impossible sharp turns. 3) Low solution efficiency: Nonlinear programming (NLP) problems with complex constraints typically involve huge computational loads, making it difficult to achieve millisecond-level real-time solutions on industrial control computers with limited computing power in the mine.

[0028] Therefore, the purpose of this invention is to provide a cutting path optimization method, apparatus, and system for upward mining, at least to solve the problem of how to provide a cutting path optimization method for upper coal seams that both conforms to the settlement curve and meets mechanical constraints near the inflection point of rapid settlement.

[0029] Method Implementation Examples Please refer to Figure 1 This invention provides a method for optimizing the cutting path in uplink mining, comprising: Step 100: Obtain the settlement curve and motion chain of the target coal seam; the motion chain represents a chain-like structure composed of multiple nodes; each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the motion chain is equal.

[0030] This invention addresses the issue of non-uniform settlement of the upper coal seam floor caused by the movement of the lower coal seam under upward mining conditions, particularly in the inflection point region of the settlement curve. It employs a kinematic algorithm to optimize the cutting path of the coal mining machine and the posture of the hydraulic supports. The core concept of this invention lies in abstracting the complex mining engineering problem into a constrained geometric approximation problem.

[0031] When mining upwards, the upper coal seam should only be mined after the lower coal seam has been mined and settled. Please refer to [reference needed]. Figure 2 From a safety perspective, when mining the upper coal seam, the roadway layout must avoid high-stress zones. These high-stress zones are typically located near the opening and stopping lines of the lower coal seam's working face. Roadways can be arranged in a staggered, inner-outer combination, positioned where stress is relatively even. Due to subsidence, the upper coal seam lies above the working face of the lower coal seam, and subsidence occurs. According to the probability integral method of subsidence, the subsidence curve of the target coal seam is approximated by the following formula: Where w0 is the maximum subsidence, r is the main influence radius, l is the inflection point offset, erf is the error function, x represents the horizontal position of the target coal seam, and W(x) represents the subsidence. The inflection point is as follows: Figure 3 As shown. The settlement curve of the target coal seam can be obtained using ground-penetrating radar or an inertial navigation system. Near the inflection point, when the coal mining machine is cutting coal, due to the large change in curvature, the scraper conveyor and hydraulic support have limitations on the adjacent slope difference (e.g., within ±3°). (between ±5°), such as Figure 4 When the slopes of adjacent hydraulic supports differ too much, leakage of rock and support biting phenomena occur.

[0032] To reduce the amount of coal seam cut and undermining at the bottom of the coal seam, the cutting path planning problem near the inflection point can be abstracted into a model: In the inflection point region of the settlement curve, the coal seam floor is no longer flat, but a continuous settlement curve W(x) (e.g., ...). Figure 2 The fully mechanized mining equipment of this invention consists of N hydraulic supports of the coal mining machine and corresponding scraper conveyor troughs between the hydraulic supports. This invention abstracts the N hydraulic supports and corresponding scraper conveyor troughs between the hydraulic supports as N nodes P = {P0, P1, ..., P...}. N The kinematic chain consists of multiple nodes forming a chain-like structure; each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the kinematic chain is equal. That is, the length of the trough in the middle of the scraper conveyor between the hydraulic supports is fixed, denoted as L (usually L is 1.5 meters or 1.75 meters). This can be expressed by the formula ||P||. i+1 P i ||=L,i=0,1,...,N 1. In this embodiment of the invention, piecewise linear modeling is used to model the scraper conveyor and hydraulic support system as a kinematic chain consisting of N nodes, with the length L of each segment being fixed (corresponding to the length of the central trough).

[0033] Step 200: Optimize the path based on the settlement curve and the kinematic chain using the improved FABRIK method to obtain the updated spatial coordinates of all nodes.

[0034] This invention utilizes an improved FABRIK (Forward And Backward Reaching Inverse Kinematics) method, which integrates anti-bite frame constraints and anti-leakage constraints, to perform path optimization based on the settlement curve and the kinematic chain, obtaining updated spatial coordinates for all nodes. Specifically, the anti-bite frame constraint constrains the angle between adjacent segments in the continuous line segment formed by the kinematic chain; the anti-leakage constraint constrains the distance from nodes in the kinematic chain to the settlement curve and / or the curvature of the curve. The anti-bite frame constraint is transformed into an angle constraint between the extensions of adjacent line segments in the kinematic chain, limited to mechanically permissible ranges (e.g., ±3°). ±5°). The anti-leakage constraint is transformed into the distance constraint between the node and the settlement curve and the top beam attitude constraint (curve curvature) to ensure that the support top beam is tightly connected. The controller of this embodiment adopts the improved FABRIK method, introduces the anti-biting frame constraint and the anti-leakage constraint, and quickly iteratively solves the updated spatial coordinates (optimal node coordinates) of all nodes that both fit the settlement curve and satisfy the mechanical constraints.

[0035] Step 300: Based on the initial spatial coordinates and the updated spatial coordinates of all nodes, determine the movement control command for each hydraulic support of the coal mining machine.

[0036] The controller determines the stroke command for the hydraulic support pushing jack and the height adjustment command for the coal mining machine drum based on the initial spatial coordinates and updated spatial coordinates of all nodes. In one embodiment, determining the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and updated spatial coordinates of all nodes includes: determining the horizontal movement command for each hydraulic support of the coal mining machine based on the difference between the x-axis coordinate of the initial spatial coordinates and the x-axis coordinate of the updated spatial coordinates of each node; and determining the height adjustment command for each hydraulic support of the coal mining machine based on the difference between the z-axis coordinate of the initial spatial coordinates and the z-axis coordinate of the updated spatial coordinates of each node. For example, in this embodiment of the invention, the finally calculated updated spatial coordinates of the nodes... Popt Compared with the initial spatial coordinates (actual position) of the current hydraulic support Preal The comparison yields the following movement control commands: Horizontal movement command: Δ x = Popt . x Preal . x (Control the extension and retraction of the hydraulic support jacks and solenoid valve assembly to correct straightness); Height adjustment command: Δ z = Popt . z Preal . z (The height adjustment cylinder of the coal mining machine controls the height of the coal mining machine drum to achieve contour cutting). Among them, Popt . x、Popt . z This indicates updating the x-axis and z-axis coordinates of the spatial coordinates; Preal.x, Preal.z The x-axis and z-axis coordinates represent the initial spatial coordinates. The controller will adjust the horizontal offset Δ. x Converted into a horizontal movement command; and the height offset Δ z This is converted into a height adjustment command, which controls the movement of each hydraulic support of the coal mining machine, thereby optimizing the cutting path of the upper coal seam near the inflection point of rapid settlement, so as to both conform to the settlement curve and meet mechanical constraints.

[0037] This invention utilizes an improved FABRIK method to optimize the path of the kinematic chain using anti-bite constraints and anti-leakage constraints. Anti-bite constraints constrain the angles of adjacent segments within the continuous line segments formed by the kinematic chain, ensuring mechanical constraints are met between all hydraulic supports. Anti-leakage constraints constrain the distance from nodes to the settlement curve and / or the curvature of the nodes, ensuring that the updated spatial coordinates of all nodes conform to the settlement curve. By incorporating anti-bite constraints and anti-leakage constraints into the FABRIK method, this invention enables rapid iterative solving for the optimal node coordinates that both conform to the settlement curve and satisfy the mechanical constraints between each hydraulic support of the coal mining machine. Therefore, this invention provides a method for optimizing the cutting path of an upper coal seam near the inflection point of rapid settlement, ensuring both conformity to the settlement curve and satisfaction of mechanical constraints.

[0038] In one embodiment, the step of using the improved FABRIK method to perform path optimization based on the settlement curve and the kinematic chain to obtain the updated spatial coordinates of all nodes includes: Repeat the following steps until the set termination condition is met: constrain the distance from all nodes in the kinematic chain to the settlement curve and / or the curvature of all nodes using the anti-leakage constraint; correct the initial spatial coordinates of all nodes backward using the anti-bite frame constraint according to the direction from the end node to the root node of the kinematic chain to obtain the intermediate spatial coordinates of all nodes; correct the intermediate spatial coordinates of all nodes forward using the anti-bite frame constraint according to the direction from the root node to the end node of the kinematic chain to obtain the candidate spatial coordinates of all nodes; wherein, the candidate spatial coordinates of all nodes under the condition of meeting the set termination condition are used as the updated spatial coordinates of all nodes.

[0039] Traditional inverse kinematics (IK) is used for robotic arms; this invention creatively applies it to an "underground mechanical snake" composed of hundreds of sections of a coal mining machine. The initialization step of the improved FABRIK method in this invention involves inputting a set of data points from the settlement curve. C The fixed segment length L between nodes of the kinematic chain, and the maximum deflection angle. α max The number of iterations is K. Initial state: [The rest of the text appears to be incomplete and requires further context.] P 0... P NSimply lay it flat on a straight line or roughly project it onto a curve. The improved FABRIK method is an iterative solution process. The following loop is executed in each control cycle (e.g., the time it takes for a coal mining machine to cut one slice): Stage I: Target adsorption and anti-leakage correction; Stage II: Backward Reaching (from tail to head); Stage III: Forward Reaching (from head to tail).

[0040] Among them, the target adsorption and leakage prevention correction truncation first calculates each node of the kinematic chain. P i The place I want to go T i . T i =FindClosestPointOnCurve( C , Pi FindClosestPointOnCurve( C , Pi ) is a computational geometry function that represents finding the joint chain nodes on a given settlement curve C. P i The point closest to the target. In one embodiment, the anti-leakage constraint constrains the distance from all nodes in the kinematic chain to the settlement curve and / or the curvature of the curve at all nodes. The anti-leakage constraint is expressed by the following formula: d min <d i <d max and / or R i >R min ； in, d i This represents the distance from node i of the kinematic chain to the settlement curve. d min This indicates setting a minimum distance. d min This indicates that the maximum distance is set. R i This represents the reciprocal of the curvature of the curve at node i of the kinematic chain; R min This represents the minimum value of the reciprocal of the curvature of the set curve.

[0041] In one embodiment, to ensure that the cutting path conforms as closely as possible to the settlement curve, the anti-leakage constraint is expressed by the following formula: d min <di <d max and R i >R min This invention converts the anti-leakage constraint into a distance and curve curvature restriction. In the uplifted section of a subsidence basin, if the cutting path is straight (cutting the bottom), the support top beam will be in a "bridging" state, resulting in a gap above the top plate and causing leakage of rock. The distance restriction of the anti-leakage constraint in this invention is geometrically defined as the requirement for the nodes of the kinematic chain. P i Vertical distance to the settling curve W(x) (pseudo-top coal thickness) d i Must be within the allowed range ( d min， d max Within a certain range, and negative values ​​are not allowed (i.e., excessive cutting of the basal rock is not permitted). This is essentially a modification of the "target adsorption" step in the FABRIK method. Target point T i It's not just about finding the nearest point on the curve, but rather adding an offset h(x) to a point on the curve to ensure the support beam contacts the top plate. The curve curvature constraint for the anti-leakage constraint is expressed as: the curve curvature of node i in the kinematic chain. R i Must be within the allowed range ( R i >R min Otherwise, the curve of the truncation path might require the hydraulic support to make physically impossible sharp turns. T i The curvature of the curve at point R is convex, and the radius of curvature (the reciprocal of the curve's curvature) R <R min ,but T i A slight adjustment is needed into the coal seam, sacrificing a small amount of coal resources in exchange for a tighter roof support. (Temporarily...) P i Move to T i (At this point, the length constraint is broken).

[0042] This invention embodiment achieves a more precise fit between the generated upward mining cutting path and the settlement curve in both distance and curve curvature dimensions by simultaneously constraining the distance from all nodes in the kinematic chain to the settlement curve.

[0043] In one embodiment, the step of correcting the initial spatial coordinates of all nodes backward based on the direction from the end node to the root node of the kinematic chain using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes includes: determining the updated position of each node based on the direction from the end node to the root node of the kinematic chain; determining the absolute angle difference between a first vector and a second vector after obtaining the updated position of each node; if the absolute angle difference is greater than a set maximum deflection angle, rotating the first vector to limit the absolute angle difference to the set maximum deflection angle to obtain an improved first vector; and determining the intermediate spatial coordinates of the second node based on the first node and the improved first vector.

[0044] Based on the direction from the end node to the root node of the kinematic chain, that is, based on the direction from the tail to the head of the kinematic chain, let... P N For each node: (either a fixed end or a free end that extends along the curve). P i (i ranges from N-1 to 0), calculate P i Its new location, placing it in P i+1 arrive P i On the line, and at a distance P i+1 To fix the bone length L, the controller calculates the first vector. The formula for length restoration is as follows: The first vector is the first node. P i+1 The second node adjacent to the root node in the direction from the end node to the head node. P i The vector formed between them; the second vector is the first node. P i+1 The third node adjacent to the root node in the direction from the root node to the end node (from beginning to end). P i+2 The vector formed between The first node can be any node in the kinematic chain. Next, the angle of the bite guard is limited: calculation... The angle difference between the vector and the next vector segment (the second vector). If the absolute angle difference is | θ |> α max Then rotate Limit its included angle to the set maximum deflection angle. α max The improved first vector is obtained on the boundary. Then, based on the first node and the improved first vector, the intermediate spatial coordinates of the second node are determined, and the position is updated using the following formula: .

[0045] In one embodiment, the step of correcting the intermediate spatial coordinates of all nodes using the anti-bite frame constraint based on the direction from the root node to the end node of the kinematic chain to obtain candidate spatial coordinates of all nodes includes: determining the updated position of each node based on the direction from the root node to the end node of the kinematic chain; determining the absolute angle difference between a third vector and a fourth vector after obtaining the updated position of each node; the third vector is the vector formed between the fourth node and a fifth node adjacent to it along the direction from the root node to the end node; the fourth vector is the vector formed between the fourth node and a sixth node adjacent to it along the direction from the end node to the root node; the fourth node is any node in the kinematic chain; if the absolute angle difference is greater than a set maximum deflection angle, rotating the third vector to limit the absolute angle difference to the set maximum deflection angle to obtain an improved third vector; and determining the candidate spatial coordinates of the fifth node based on the fourth node and the improved third vector.

[0046] Based on the direction from the root node to the end node of the kinematic chain, that is, based on the direction from the beginning to the end of the kinematic chain, let... P 0 represents a fixed endpoint (the current location of the coal mining machine or the head position). For each node... P i (i ranges from 0 to N-1), calculate P i Its new location, placing it in P i-1 arrive P i On the line, and at a distance P i-1 To fix the bone length L, the controller calculates the third vector. The formula for length restoration is as follows: The third vector is the fourth node. P i The fifth node adjacent to the root node in the direction from the root node to the end node (from beginning to end). P i+1 The vector formed between them; the fourth vector is the fourth node. P i The third node adjacent to the root node in the direction from the end node to the head node. P i-1 The vector formed between The fourth node can be any node in the kinematic chain. Next, the angle of the bite guard is limited: calculation... The angle difference with the next vector segment (the fourth vector). If the absolute angle difference is | θ |> α max Then rotate Limit its included angle to the set maximum deflection angle. α max An improved third vector is obtained on the boundary. Based on the fourth node and the improved third vector, the candidate spatial coordinates of the fifth node are determined, and the position is updated using the following formula: .

[0047] After completing phases I-III, a convergence check is performed. The termination condition can be set as the sum of the movement of all points; if this sum is less than or equal to a threshold... If the iteration count K is reached, the process stops. The candidate spatial coordinates of all nodes that meet the set termination condition are used as the updated spatial coordinates of all nodes.

[0048] The following describes the technical effects of the uplink mining cut path optimization method of the present invention in an exemplary embodiment: Example Background: In a certain mine, the average thickness of the coal seam in the upward mining face is 3.5 meters, and the lower coal seam has been mined out for 3 years. Due to mining, there is a significant subsidence basin in the middle of the working face, with a maximum subsidence of 1.2 meters, and a reverse slope is formed at the edge of the basin, with a maximum slope change of 15 degrees, which is a typical "inflection point" condition.

[0049] Before applying the upward mining cutting path optimization method of this invention: manual adjustment of the supports was used. At inflection points, because workers could not accurately judge the accumulated angles of adjacent hydraulic supports, the 15th to 20th hydraulic supports frequently experienced "support biting," resulting in severe deformation of the support side guard plates. At the same time, at the bottom of the sinking basin, the coal mining machine easily cuts into the bottom rock, causing excessive wear of the cutting teeth.

[0050] Please refer to Figure 5 After applying the upward mining cutting path optimization method of this invention: Path smoothing: The path calculated by the algorithm evenly distributes the drastic 15-degree slope change within the range of 10 hydraulic supports, and the relative rotation angle between each support is controlled at about 1.5 degrees, far less than the limit of 5 degrees. Elimination of support jamming: Due to the addition of forced angle constraints, the system automatically adjusts the push-pull step distance, ensuring that the hydraulic support column always remains within its flexibility limit, completely eliminating support jamming. Minimization of area error: The area enclosed by the calculated segmented broken line and the actual settlement curve (i.e., the amount of ineffective cutting or residual coal) is reduced by about 20% compared to manual operation.

[0051] The core steps of this invention include: 1. Data Acquisition and Curve Reconstruction: Obtain the current actual floor settlement curve W(x) of the upper coal seam using ground-penetrating radar or inertial navigation system.

[0052] 2. Piecewise linearization modeling: The scraper conveyor and hydraulic support system are modeled as a kinematic chain consisting of N nodes, with each segment having a fixed length L (corresponding to the length of the central trough).

[0053] 3. Constraint Conversion: Anti-bite frame constraint: converted into the angle constraint between the extension lines of adjacent segments of the kinematic chain, limited to the mechanically permissible range (e.g., ±3°). ±5°). Leakage prevention constraint: converted into distance constraint between nodes and target curve and top beam attitude constraint to ensure tight connection of the support top beam.

[0054] 4. FABRIK-based path solving: An improved FABRIK method is adopted, which introduces a penalty factor (distance constraint and top beam attitude constraint) and angle clamping to quickly iterate and solve for the optimal node coordinates that both fit the settlement curve and meet the mechanical constraints.

[0055] 5. Execution control: The calculated node coordinates are converted into stroke commands for the hydraulic support pushing jacks and height adjustment commands for the coal mining machine drum.

[0056] The beneficial effects of this invention are as follows: 1. Protective equipment: Strict geometric constraint calculations eliminate physical hard interference and remove the risk of biting.

[0057] 2. Improve coal quality: The optimized contour path reduces the amount of rock cutting and coal leakage.

[0058] 3. Strong real-time performance: The improved FABRIK method has low computational complexity, involving only vector operations, making it suitable for real-time operation in downhole embedded controllers.

[0059] Device Examples Please refer to Figure 6 On the other hand, embodiments of the present invention also provide a cutting path optimization device for upward mining, comprising: The acquisition module 601 is used to acquire the settlement curve and motion chain of the target coal seam; the motion chain represents a chain-like structure composed of multiple nodes; each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the motion chain is equal; The optimization module 602 is used to perform path optimization based on the settlement curve and the kinematic chain using the improved FABRIK method to obtain the updated spatial coordinates of all nodes. The improved FABRIK method uses anti-bite constraints and anti-leakage constraints to optimize the path of the kinematic chain. The anti-bite constraints are used to constrain the angles of adjacent line segments in the continuous line segments formed by the kinematic chain. The anti-leakage constraints are used to constrain the distance from the nodes in the kinematic chain to the settlement curve and / or the curvature of the node curve. The determination module 603 is used to determine the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes.

[0060] Optionally, the improved FABRIK method is used to perform path optimization based on the settlement curve and the kinematic chain to obtain the updated spatial coordinates of all nodes, including: Repeat the following steps until the set termination condition is met: The anti-leakage gangue constraint is used to constrain the distance from all nodes in the kinematic chain to the settlement curve and / or the curvature of the curve of all nodes; Based on the direction from the end node to the root node of the kinematic chain, the initial spatial coordinates of all nodes are corrected backward using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes. Based on the direction from the root node to the end node of the kinematic chain, the intermediate spatial coordinates of all nodes are corrected forward using the anti-bite frame constraint to obtain the candidate spatial coordinates of all nodes; wherein, the candidate spatial coordinates of all nodes under the condition of reaching the set termination condition are used as the updated spatial coordinates of all nodes.

[0061] Optionally, the anti-leakage gangue constraint is expressed by the following formula: d min <d i <d max and / or R i >R min ; in, d i This represents the distance from node i of the kinematic chain to the settlement curve. d min This indicates setting a minimum distance. d min This indicates that the maximum distance is set. R i This represents the reciprocal of the curvature of the curve at node i of the kinematic chain; Rmin This represents the minimum value of the reciprocal of the curvature of the set curve.

[0062] Optionally, the step of correcting the initial spatial coordinates of all nodes backward based on the direction from the end node to the root node of the kinematic chain using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes includes: The update position of each node is determined based on the direction from the end node to the root node of the kinematic chain; The absolute angle difference between the first vector and the second vector after determining the updated position of each node; the first vector is the vector formed between the first node and the second node adjacent to it in the direction from the end node to the root node; the second vector is the vector formed between the first node and the third node adjacent to it in the direction from the root node to the end node; the first node is any node in the kinematic chain; If the absolute angle difference is greater than the set maximum deflection angle, the first vector is rotated to limit the absolute angle difference to the set maximum deflection angle, thus obtaining an improved first vector; Based on the first node and the improved first vector, the intermediate spatial coordinates of the second node are determined.

[0063] Optionally, the step of correcting the intermediate spatial coordinates of all nodes using the anti-bite frame constraint based on the direction from the root node to the end node of the kinematic chain to obtain the candidate spatial coordinates of all nodes includes: The update position of each node is determined based on the direction from the root node to the end node of the kinematic chain; The absolute angle difference between the third and fourth vectors after determining the updated position of each node is determined; the third vector is the vector formed between the fourth node and the fifth node adjacent in the direction from the root node to the end node; the fourth vector is the vector formed between the fourth node and the sixth node adjacent in the direction from the end node to the root node; the fourth node is any node in the kinematic chain. If the absolute angle difference is greater than the set maximum deflection angle, the third vector is rotated to limit the absolute angle difference to the set maximum deflection angle, thus obtaining an improved third vector; Based on the fourth node and the improved third vector, the candidate spatial coordinates of the fifth node are determined.

[0064] Optionally, determining the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes includes: The horizontal movement command for each hydraulic support of the coal mining machine is determined based on the difference between the x-axis coordinate of the initial spatial coordinates and the x-axis coordinate of the updated spatial coordinates of each node. The height adjustment command for each hydraulic support of the coal mining machine is determined based on the difference between the initial z-axis coordinate and the updated z-axis coordinate of each node.

[0065] The uplink mining path optimization device includes a processor and a memory. The acquisition module 601, optimization module 602, and determination module 603 are all stored as program units in the memory. The processor executes these program units stored in the memory to achieve the corresponding functions. The processor contains a kernel, which retrieves the corresponding program units from the memory. One or more kernels may be provided. The memory may include non-permanent memory in computer-readable media, random access memory (RAM), and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. The memory includes at least one memory chip.

[0066] On the other hand, please refer to Figure 7 The present invention also provides a cutting path optimization system for uplink mining, including a sensing mechanism 10, an execution mechanism 30, and a controller 20 electrically connected to the sensing mechanism 10 and the execution mechanism 30 respectively. The sensing mechanism 10 is at least used to acquire the settlement curve of the target coal seam and to send the settlement curve to the controller 20; The controller 20 is used to execute the above-described uplink mining cut path optimization method; The actuator 30 is used to execute the movement control commands output by the controller 20.

[0067] In one embodiment, the sensing mechanism 10 includes an inertial navigation unit (INS) and a tilt sensor array. The INS is mounted on the coal mining machine body to record the cutting trajectory in real time and invert the roof and floor curves. The tilt sensor array is mounted on the base and shield beam of each hydraulic support to monitor the actual attitude and adjacent angles of the hydraulic supports. The controller 20 can be an industrial-grade computer, which incorporates the upward mining cutting path optimization method described in the above embodiment. The input interface of the industrial-grade computer receives data from the sensing mechanism 10. The output interface sends control bus signals (movement control commands) to the actuator 30. The actuator 30 includes hydraulic support pushing jacks and solenoid valve groups of the coal mining machine, as well as the height adjustment cylinders of the coal mining machine.

[0068] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a machine-readable storage medium. When the computer program is executed by a processor, the computer is able to execute an upward mining cutting path optimization method, the method comprising: acquiring a settlement curve and a motion chain of a target coal seam; the motion chain representing a chain-like structure composed of multiple nodes; each node representing the initial spatial coordinates of a single hydraulic support of a coal mining machine; the distance between adjacent nodes in the motion chain being equal; performing path optimization based on the settlement curve and the motion chain using an improved FABRIK method to obtain updated spatial coordinates of all nodes; the improved FABRIK method performing path optimization of the motion chain using anti-bite constraints and anti-leakage constraints; the anti-bite constraints constraining the angles of adjacent segments in the continuous line segments formed by the motion chain; the anti-leakage constraints constraining the distance from nodes to the settlement curve and / or the curvature of the curve of the nodes in the motion chain; and determining the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes.

[0069] In another aspect, the present invention also provides a machine-readable storage medium storing a computer program thereon, which, when executed by a processor, implements a method for optimizing the cutting path of upward mining. The method includes: acquiring a settlement curve and a motion chain of a target coal seam; the motion chain representing a chain-like structure composed of multiple nodes; each node representing the initial spatial coordinates of a single hydraulic support of a coal mining machine; the distance between adjacent nodes in the motion chain being equal; performing path optimization based on the settlement curve and the motion chain using an improved FABRIK method to obtain updated spatial coordinates of all nodes; the improved FABRIK method performing path optimization on the motion chain using anti-biting constraints and anti-leakage constraints; the anti-biting constraints constraining the angles of adjacent segments in a continuous line segment formed by the motion chain; the anti-leakage constraints constraining the distance from nodes to the settlement curve and / or the curvature of the curve at the nodes in the motion chain; and determining a movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes.

[0070] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0071] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0072] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for optimizing the cutting path in upward mining, characterized in that, include: Obtain the settling curve and kinematic chain of the target coal seam; the kinematic chain represents a chain-like structure composed of multiple nodes. Each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the kinematic chain is equal; The improved FABRIK method is used to optimize the path based on the settlement curve and the kinematic chain, obtaining the updated spatial coordinates of all nodes. The improved FABRIK method uses anti-bite constraints and anti-leakage constraints to optimize the path of the kinematic chain. The anti-bite constraints are used to constrain the angles of adjacent line segments in the continuous line segments formed by the kinematic chain. The anti-leakage constraints are used to constrain the distance from the nodes in the kinematic chain to the settlement curve and / or the curvature of the curve of the nodes. Based on the initial spatial coordinates and the updated spatial coordinates of all nodes, the movement control command for each hydraulic support of the coal mining machine is determined.

2. The method for optimizing the cutting path in upward mining according to claim 1, characterized in that, The improved FABRIK method is used to perform path optimization based on the settlement curve and the kinematic chain to obtain the updated spatial coordinates of all nodes, including: Repeat the following steps until the set termination condition is met: The anti-leakage gangue constraint is used to constrain the distance from all nodes in the kinematic chain to the settlement curve and / or the curvature of the curve of all nodes; Based on the direction from the end node to the root node of the kinematic chain, the initial spatial coordinates of all nodes are corrected backward using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes. Based on the direction from the root node to the end node of the kinematic chain, the intermediate spatial coordinates of all nodes are corrected forward using the anti-bite frame constraint to obtain the candidate spatial coordinates of all nodes; wherein, the candidate spatial coordinates of all nodes under the condition of reaching the set termination condition are used as the updated spatial coordinates of all nodes.

3. The method for optimizing the cutting path in upward mining according to claim 2, characterized in that, The anti-leakage gangue constraint is expressed by the following formula: d min <d i <d max and / or R i >R min ; in, d i This represents the distance from node i of the kinematic chain to the settlement curve. d min This indicates setting a minimum distance. d min This indicates that the maximum distance is set. R i This represents the reciprocal of the curvature of the curve at node i of the kinematic chain; R min This represents the minimum value of the reciprocal of the curvature of the set curve.

4. The method for optimizing the cutting path in upward mining according to claim 2, characterized in that, The step of correcting the initial spatial coordinates of all nodes backward based on the direction from the end node to the root node of the kinematic chain using the anti-bite frame constraint to obtain the intermediate spatial coordinates of all nodes includes: The update position of each node is determined based on the direction from the end node to the root node of the kinematic chain; The absolute angle difference between the first vector and the second vector after determining the updated position of each node; the first vector is the vector formed between the first node and the second node adjacent to it in the direction from the end node to the root node; the second vector is the vector formed between the first node and the third node adjacent to it in the direction from the root node to the end node; the first node is any node in the kinematic chain; If the absolute angle difference is greater than the set maximum deflection angle, the first vector is rotated to limit the absolute angle difference to the set maximum deflection angle, thus obtaining an improved first vector; Based on the first node and the improved first vector, the intermediate spatial coordinates of the second node are determined.

5. The method for optimizing the cutting path in upward mining according to claim 2, characterized in that, The step of correcting the forward position of the intermediate spatial coordinates of all nodes based on the direction from the root node to the end node of the kinematic chain using the anti-bite frame constraint to obtain the candidate spatial coordinates of all nodes includes: The update position of each node is determined based on the direction from the root node to the end node of the kinematic chain; The absolute angle difference between the third and fourth vectors after determining the updated position of each node is determined; the third vector is the vector formed between the fourth node and the fifth node adjacent in the direction from the root node to the end node; the fourth vector is the vector formed between the fourth node and the sixth node adjacent in the direction from the end node to the root node; the fourth node is any node in the kinematic chain. If the absolute angle difference is greater than the set maximum deflection angle, the third vector is rotated to limit the absolute angle difference to the set maximum deflection angle, thus obtaining an improved third vector; Based on the fourth node and the improved third vector, the candidate spatial coordinates of the fifth node are determined.

6. The method for optimizing the cutting path in upward mining according to claim 1, characterized in that, The determination of movement control commands for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes includes: The horizontal movement command for each hydraulic support of the coal mining machine is determined based on the difference between the x-axis coordinate of the initial spatial coordinates and the x-axis coordinate of the updated spatial coordinates of each node. The height adjustment command for each hydraulic support of the coal mining machine is determined based on the difference between the initial z-axis coordinate and the updated z-axis coordinate of each node.

7. A cutting path optimization device for upward mining, characterized in that, include: The acquisition module is used to acquire the settling curve and motion chain of the target coal seam; the motion chain represents a chain-like structure composed of multiple nodes; Each node represents the initial spatial coordinates of a single hydraulic support of the coal mining machine; the distance between adjacent nodes in the kinematic chain is equal; An optimization module is used to perform path optimization based on the settlement curve and the kinematic chain using an improved FABRIK method to obtain the updated spatial coordinates of all nodes. The improved FABRIK method uses anti-bite constraints and anti-leakage constraints to optimize the path of the kinematic chain. The anti-bite constraints are used to constrain the angles of adjacent line segments in the continuous line segments formed by the kinematic chain. The anti-leakage constraints are used to constrain the distance from the nodes in the kinematic chain to the settlement curve and / or the curvature of the node curve. The determination module is used to determine the movement control command for each hydraulic support of the coal mining machine based on the initial spatial coordinates and the updated spatial coordinates of all nodes.

8. A cutting path optimization system for uphill mining, comprising a sensing mechanism, an execution mechanism, and a controller electrically connected to the sensing mechanism and the execution mechanism respectively; The sensing mechanism is at least used to acquire the settlement curve of the target coal seam and to send the settlement curve to the controller; The controller is used to execute the cutting path optimization method for uplink mining as described in any one of claims 1 to 6; The actuator is used to execute the movement control commands output by the controller.

9. A machine-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the uplink mining cut path optimization method according to any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the uplink mining cut path optimization method according to any one of claims 1 to 6.

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