Coal mining machine end face distance control method and device based on direct ranging and electronic equipment

Abstract

The application provides a coal cutter end face distance control method and device based on direct ranging and electronic equipment, and relates to the technical field of coal mining. The coal cutter end face distance control method based on direct ranging comprises the following steps: obtaining a target end face distance corresponding to the coal cutter at a target time step by using a ranging device; the target end face distance is determined according to the horizontal distance between the front end of the hydraulic support roof beam matched with the coal cutter and the coal wall; determining that the target end face distance exceeds the end face distance safety range; adjusting the control parameters of the coal cutter according to the offset of the target end face distance exceeding the end face distance safety range; and performing the cutting operation on the coal wall at the next time step based on the adjusted control parameters, so that the end face distance obtained according to the cut coal wall returns to the end face distance safety range. The application can control the end face distance, safely and accurately regulate and control the cutting operation of the coal cutter, and ensure that the hydraulic support and the coal wall maintain a reasonable safety space relationship.

Description

Technical Field

[0001] This invention relates to the field of coal mining technology, and in particular to a method, device, and electronic equipment for controlling the end face distance of a coal mining machine based on direct distance measurement. Background Technology

[0002] During the mining process of a fully mechanized longwall face, the distance between the end faces directly affects the stability of the top coal and coal wall within the working space, and is a key parameter to ensure safe and efficient mining.

[0003] In existing technologies, there are several methods for controlling the cutting template of coal mining machines. One type generates the cutting template curve based on realistic data and uses video data from the working face to make real-time corrections to the cutting template during the coal mining process. Another type uses memory cutting technology, which allows the coal mining machine to remember the cutting parameters of the already cut coal face and make autonomous corrections. In addition, there are adaptive cutting methods based on geological models and equipment perception, which correct the mining model through perception technologies such as inertial navigation and radar positioning. However, the above methods, due to the single correction variable and lack of direct constraint targets, cannot fundamentally guarantee the stability of the working space.

[0004] Therefore, how to safely and accurately control the cutting operation of the coal mining machine by controlling the end face distance, so as to ensure that the hydraulic support and the coal wall maintain a reasonable safe space relationship, is a technical problem that urgently needs to be solved. Summary of the Invention

[0005] This invention provides a method, device, and electronic equipment for controlling the end face distance of a coal mining machine based on direct distance measurement, in order to solve the above-mentioned defects in the prior art. By controlling the end face distance, the cutting operation of the coal mining machine can be safely and accurately regulated to ensure that a reasonable safe space relationship is maintained between the hydraulic support and the coal wall.

[0006] This invention provides a method for controlling the end face distance of a coal mining machine based on direct distance measurement, comprising the following steps.

[0007] Using a ranging device, the target end face distance corresponding to the coal mining machine at the target time step is obtained; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; it is determined that the target end face distance exceeds the safe range of end face distance; based on the offset of the target end face distance exceeding the safe range of end face distance, the control parameters of the coal mining machine are adjusted; based on the adjusted control parameters, the cutting operation of the coal wall at the next time step is executed so that the end face distance obtained from the cut coal wall returns to the safe range of end face distance.

[0008] According to the direct ranging-based coal mining machine end face distance control method provided by the present invention, the control parameters include traction speed and drum height; adjusting the control parameters of the coal mining machine according to the offset of the target end face distance exceeding the safe range of end face distance includes: if the offset is greater than a first offset threshold, reducing the traction speed to a first traction speed; if the offset is greater than a second offset threshold, reducing the traction speed to a second traction speed, and adjusting the drum height according to the offset; wherein, the first offset threshold is less than the second offset threshold, and the first traction speed is greater than the second traction speed.

[0009] According to the direct distance measurement-based coal mining machine end face distance control method provided by the present invention, adjusting the drum height according to the offset includes: determining that the target end face distance is less than the safe range of the end face distance; if the current working face is undercut or horizontal coal seam mining, raising the drum height to increase the floor height of the current working face; if the current working face is undercut, lowering the drum height to decrease the floor height of the current working face.

[0010] According to the direct distance measurement-based coal mining machine end face distance control method provided by the present invention, adjusting the drum height according to the offset includes: determining that the target end face distance is greater than the safe range of the end face distance; if the current working face is under-mining or horizontal coal seam mining, reducing the drum height to lower the floor height of the current working face; if the current working face is under-mining, raising the drum height to raise the floor height of the current working face.

[0011] The method for controlling the end face distance of a coal mining machine based on direct ranging according to the present invention further includes: Acquire historical cutting data; wherein, the historical cutting data includes the historical end face distance of multiple cutters; determine that before the target time step, the historical end face distance of multiple cutters deviates from the safe end face distance range, and the number of multiple cutters reaches the target number of cutters; adjust the cutting template used by the coal mining machine according to the deviation between the historical end face distance of the multiple cutters and the safe end face distance range; based on the adjusted cutting template, execute the next cut operation against the coal wall.

[0012] According to the direct distance measurement-based coal mining machine end face distance control method provided by the present invention, the historical cutting data further includes the deviation between the actual cutting trajectory and the target cutting trajectory of each cutter; the step of adjusting the cutting template used by the coal mining machine based on the deviation between the historical end face distance of the multiple cutters and the safe end face distance range includes: determining the changing trend of the deviation between the historical end face distance of each cutter and the safe end face distance range based on the deviation between the historical end face distance of the multiple cutters and the safe end face distance range; generating a correction amount for the cutting height based on the changing trend and the deviation between the actual cutting trajectory and the target cutting trajectory of each cutter, so as to bring the end face distance of subsequent cutters back to the safe end face distance range based on the correction amount; and adjusting the cutting template based on the correction amount for the cutting height.

[0013] According to the coal mining machine end face distance control method based on direct distance measurement provided by the present invention, adjusting the cutting template based on the correction amount of the cutting height includes: Based on the cutting offset limit, the correction amount is decomposed into at least one step size; according to each step size, the cutting curve in the cutting template of at least one subsequent cutter is adjusted.

[0014] The present invention also provides a coal mining machine end face distance control device based on direct ranging, comprising: The acquisition module is used to acquire the target end face distance of the coal mining machine at the target time step using a ranging device; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; the determination module is used to determine whether the target end face distance exceeds the safe range of end face distance; the adjustment module is used to adjust the control parameters of the coal mining machine based on the offset of the target end face distance exceeding the safe range of end face distance; the execution module is used to execute the cutting operation of the coal wall at the next time step based on the adjusted control parameters, so that the end face distance obtained from the cut coal wall returns to the safe range of end face distance.

[0015] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the coal mining machine end face distance control method based on direct ranging as described above.

[0016] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the coal mining machine end face distance control method based on direct ranging as described above.

[0017] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the coal mining machine end face distance control method based on direct ranging as described above.

[0018] This invention provides a method, device, and electronic equipment for controlling the end face distance of a coal mining machine based on direct distance measurement. Utilizing a distance measuring device, the method acquires the target end face distance of the coal mining machine at a target time step. When the target end face distance exceeds the safe range, the control parameters of the coal mining machine are adjusted based on the offset of the target end face distance from the safe range. Based on the adjusted control parameters, the cutting operation on the coal wall is executed at the next time step, ensuring that the end face distance obtained after cutting returns to the safe range. The end face distance obtained through direct measurement accurately reflects the safe distance between the hydraulic support and the coal wall, allowing for safe and accurate control of the coal mining machine's cutting operation based on this end face distance, ensuring a reasonable safe space relationship between the hydraulic support and the coal wall. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0020] Figure 1 This is a flowchart illustrating the coal mining machine end face distance control method based on direct distance measurement provided by the present invention.

[0021] Figure 2 This is a flowchart illustrating the method for adjusting the cutting template provided by the present invention.

[0022] Figure 3 This is a schematic diagram of the end face distance closed-loop control link provided by the present invention.

[0023] Figure 4 This is a schematic diagram of the components and data flow of the coal mining machine end face distance control system provided by the present invention.

[0024] Figure 5 This is a schematic diagram of the structure of the coal mining machine end face distance control device based on direct distance measurement provided by the present invention.

[0025] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0026] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0027] The following is combined Figures 1-4 The present invention describes a method for controlling the distance to the end face of a coal mining machine.

[0028] Figure 1 This is a flowchart illustrating the coal mining machine end face distance control method based on direct ranging provided by the present invention. Figure 1 As shown, the method includes the following: Step 101: Use a ranging device to obtain the target end face distance of the coal mining machine at the target time step; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall.

[0029] The target end face distance is the actual horizontal distance between the front end of the hydraulic support top beam and the coal wall at a certain moment of coal mining operation. It is a direct physical quantity for measuring the spatial safety relationship between the support and the coal wall.

[0030] The target time step is the coal mining time divided into units of each cut during the coal cutting process of the coal mining machine.

[0031] Distance measuring devices are sensor devices used to directly measure physical distances, such as millimeter-wave radar sensors, which can transmit and receive reflected waves in real time to obtain the physical distance between two points.

[0032] In some embodiments, the ranging device is a millimeter-wave radar sensor, which is fixedly installed on the front end of the hydraulic support beam near the coal face. The radar wave emission direction of the millimeter-wave radar sensor forms a fixed angle with the longitudinal axis of the beam and points perpendicularly to the coal face surface. As an example only, two millimeter-wave radar sensors are used, installed on the left and right sides of the front end of the beam respectively. The average value of the measurements from the two millimeter-wave radar sensors can be used as the target end face distance to eliminate measurement errors caused by local unevenness of the coal face.

[0033] Step 102: Determine that the target end face distance exceeds the safe range for end face distance.

[0034] The safe range for end face distance is the allowable interval defined by the upper safety limit D_max and the lower safety limit D_min. In practice, the safe range for end face distance can be pre-calibrated based on the length of the hydraulic support top beam and the diameter of the coal mining machine drum.

[0035] In the specific implementation process, the target end face distance can be compared with the upper safety limit value D_max and the lower safety limit value D_min to calculate the deviation amount ΔD and the deviation direction. If the target end face distance D_actual > the upper safety limit value D_max, then the upper limit of the target end face distance exceeding the safe end face distance range is determined. If the target end face distance D_actual < the lower safety limit value D_min, then the lower limit of the target end face distance exceeding the safe end face distance range is determined.

[0036] Step 103: Adjust the control parameters of the coal mining machine according to the offset of the target end face distance from the safe end face distance range.

[0037] In practice, the control parameters include traction speed and drum height, which can be adjusted in the following ways: If the offset is greater than the first offset threshold, the traction speed is reduced to the first traction speed; if the offset is greater than the second offset threshold, the traction speed is reduced to the second traction speed, and the roller height is adjusted according to the offset; wherein the first offset threshold is less than the second offset threshold, and the first traction speed is greater than the second traction speed.

[0038] For example, assuming the end face distance safety range is 300mm to 500mm, the normal traction speed is 10m / min, the safety range width is 200mm, the first offset threshold is 20% of the safety range (40mm), the second offset threshold is 50% of the safety range (100mm), the first traction speed is 70% of the normal speed (7m / min), and the second traction speed is 40% of the normal speed (4m / min); if the end face distance measured by the millimeter-wave radar is 560mm, the deviation is 60mm. 60mm is greater than the first offset threshold of 40mm but less than the second offset threshold of 100mm, then the traction speed is reduced to the first traction speed of 7m / min, and the roller height is not adjusted; if the measured end face distance is 620mm, the deviation is 120mm. 120mm is greater than the second offset threshold of 100mm, then the traction speed is reduced to the second traction speed of 4m / min, and the roller height is adjusted according to the offset.

[0039] In the specific implementation process, when the measured end face distance is too large, the height of the drum is adjusted so that the top beam of the hydraulic support is closer to the coal wall after being pushed, thereby reducing the end face distance; when the measured end face distance is too small, the height of the drum is adjusted so that the top beam of the hydraulic support is further away from the coal wall after being pushed, thereby increasing the end face distance.

[0040] In some embodiments, the target end face distance is determined to be less than the safe range of end face distance; if the current working face is undercut or horizontal coal seam mining, raising the drum height can reduce the amount of bottom cutting or bottom coal left in the coal wall, thereby increasing the floor height of the current working face; if the current working face is undercut, lowering the drum height can increase the amount of bottom cutting, thereby decreasing the floor height of the current working face.

[0041] In some embodiments, the target end face distance is determined to be greater than the safe range of end face distance; if the current working face is undercut or horizontal coal seam mining, reducing the drum height can increase the amount of coal wall cutting, thereby reducing the floor height of the current working face; if the current working face is undercut, increasing the drum height can reduce the amount of coal wall cutting or leave bottom coal, thereby increasing the floor height of the current working face.

[0042] Step 104: Based on the adjusted control parameters, perform the cutting operation on the coal wall in the next time step so that the end face distance obtained from the cut coal wall returns to the safe range of end face distance.

[0043] The cutting operation is the process by which the coal mining machine cuts the coal wall according to the cutting template. Each cut corresponds to one complete cutting cycle.

[0044] In some embodiments, historical cutting data can be acquired; wherein, the historical cutting data includes the historical end face distance of multiple cutters; it is determined that before the target time step, the historical end face distances of multiple cutters all deviate from the safe end face distance range, and the number of multiple cutters reaches the target number of cutters; based on the deviation between the historical end face distances of multiple cutters and the safe end face distance range, the cutting template used by the coal mining machine is adjusted. For a detailed description of this embodiment, please refer to the following. Figure 2 The relevant content in [the document / document].

[0045] Figure 2 This is a flowchart illustrating the method for adjusting the cutting template provided by the present invention. Figure 2 As shown, the method includes the following: Step 201: Obtain historical cutting data; whereby the historical cutting data includes the historical end face distance of multiple cuts.

[0046] Historical cutting data is a record of historical cutting data stored in units of cuts. Each data record includes the target cutting curve, the actual cutting curve, and the sequence of changes in the measured end face distance for each cut.

[0047] Historical end face distance refers to the end face distance measured using ranging equipment, such as millimeter radar waves, during each mining operation.

[0048] Step 202: Determine that the historical end face distance of all multiple cuts before the target time step deviates from the safe range of end face distance, and that the number of multiple cuts reaches the target number of cuts.

[0049] The target cut count is the threshold number of cuts required to determine when the end face distance deviates from the safe range and the cutting template needs to be corrected.

[0050] In the specific implementation process, the sequence of changes in the measured end face distance of each cut can be analyzed to determine the average end face distance deviation and direction of the cut, and to identify which segment of the cutting trajectory caused the end face distance deviation. When the measured end face distance values ​​of multiple consecutive cuts show a systematic deviation, such as three consecutive cuts where the end face distances are all too large or too small, it is determined that the cutting template needs to be corrected.

[0051] Step 203: Adjust the cutting template used by the coal mining machine according to the deviation between the historical end face distance and the safe end face distance range of the multi-blade.

[0052] The cutting template is the cutting height curve and traction speed curve that the coal mining machine uses during the cutting process. It is stored and managed in units of cutter.

[0053] In the specific implementation process, the historical cutting data also includes the deviation between the actual cutting trajectory of each blade and the target cutting trajectory. Based on the deviation between the historical end face distance and the safe end face distance range of multiple blades, the changing trend of the deviation between the historical end face distance and the safe end face distance range of each blade can be determined. Based on the changing trend and the deviation between the actual cutting trajectory of each blade and the target cutting trajectory, a correction amount for the cutting height is generated, so that the end face distance of subsequent blades can be returned to the safe end face distance range based on the correction amount. Based on the correction amount for the cutting height, the cutting template is adjusted.

[0054] In some embodiments, the correction amount can be decomposed into at least one step size based on the cutting offset limit; and the cutting curve in the cutting template of at least one subsequent cutter can be adjusted according to each step size.

[0055] The cut offset limit refers to the maximum allowable offset of the cut height in a single correction, used to prevent damage to the equipment from large adjustments.

[0056] Step size refers to the amount of correction performed on each cut after the total correction amount is broken down according to the cutting offset limit.

[0057] In the specific implementation process, the correction amount ΔM of the cutting height can be decomposed into multiple step lengths, each step length corresponds to one cutting process, and the absolute value of the correction amount of each step does not exceed the preset cutting offset limit; according to each step length, the cutting curve in the cutting template of at least one subsequent cut is adjusted one by one, so that the end face distance gradually returns to the safe range.

[0058] As an example, the measured end-face distance for three consecutive cuts was 800mm, while the safe range for end-face distance is 300mm to 500mm. This means that the end-face distance for all three cuts was excessively large, with a unidirectional, systematic tendency to increase. Furthermore, analysis of the deviation between the actual cutting trajectory and the target cutting trajectory for each cut revealed that the actual cutting curve for each of the three cuts was approximately 50mm below the target cutting curve. This indicates that the actual cutting depth was 50mm greater than the target, resulting in an excessive decrease in the bottom plate height. Consequently, after the hydraulic support was moved, the top beam was too far from the coal wall, leading to an excessively large end-face distance. Based on the above trends and the deviation between the actual and target cutting trajectories, a correction value ΔM of +50mm was generated for the cutting height. The correction direction was to bring the actual cutting curve back to the target cutting curve. This involved controlling the rise of the coal mining machine drum and reducing the cutting depth by 50mm, thereby increasing the bottom plate height. This would allow the top beam to be closer to the coal wall after the support was moved, and the end-face distance to return to the safe range. A stepped amplitude limiting algorithm is adopted. Assuming that the cutting offset limit L_max is 20mm, the 50mm correction amount is decomposed into 3 step sizes: the first cut correction +20mm, the second cut correction +20mm, and the third cut correction +10mm. The cutting curve in the cutting template is adjusted cut by cut.

[0059] Step 204: Based on the adjusted cutting template, perform the next cutting operation on the coal wall.

[0060] In the specific implementation process, the corrected cutting template is used as the target cutting curve for the next cut. During the next mining operation, the measured end face distance is continuously monitored. If the deviation direction of the measured end face distance after the cutting template correction is consistent with the expectation and the deviation amplitude decreases, the correction is deemed effective, and subsequent correction steps continue. If the deviation direction of the corrected end face distance is opposite to the expectation or the deviation amplitude increases, the correction direction is deemed incorrect, the remaining correction steps are immediately paused, and an alarm is sent to the centralized control system.

[0061] In the specific implementation process, the truncation record generated during step 104, along with the verification result of this step, can be fed back to step 201 as input data for the next round of truncation template correction, forming a structure like... Figure 3 The diagram illustrates a complete closed-loop control chain: end face distance measurement, real-time adjustment, cutting record, end face distance drive template correction, correction verification, and next cut execution. This achieves self-verification and self-adaptation of end face distance control, solving the technical challenges of no feedback during correction, no self-checking of errors, and damage to equipment from large adjustments in open-loop prediction.

[0062] Figure 4 This is a schematic diagram of the components and data flow of the coal mining machine end face distance control system provided by the present invention.

[0063] The coal mining machine end face distance control system is used to perform actions such as Figure 1 and Figure 2The method described. For example... Figure 4 As shown, the coal mining machine end face distance control system includes the following components.

[0064] The end-face distance direct measurement unit is fixedly installed on the front end of the hydraulic support top beam near the coal wall. It contains two millimeter-wave radar sensors, located on the left and right sides of the front end of the top beam, respectively. The radar wave emission direction is at a fixed angle to the longitudinal axis of the top beam and points perpendicularly to the coal wall surface. It is used to obtain the original measurement value of the end-face distance between the front end of the hydraulic support top beam and the coal wall in real time. By taking the average value of the two sensor measurements as the actual end-face distance, the measurement error caused by local unevenness of the coal wall can be eliminated.

[0065] The support status sensing unit, installed on the hydraulic support, includes a push stroke sensor, an tilt sensor, and a column pressure sensor. It monitors the support's push stroke, support posture, and top plate pressure status. This unit provides the system with support status data to help determine the causes of end face distance deviations, such as whether the support has been pushed into position or whether the top plate pressure is abnormal.

[0066] The data acquisition module collects in real time the raw measured value of the end face distance output by the direct end face distance measurement unit, as well as status data such as pushing stroke, tilt angle, and column pressure output by the support status sensing unit. It also aligns the timestamps of both types of data to ensure temporal consistency. This module is the foundation of the system's data processing, providing accurate input data for subsequent comparison, judgment, and control adjustments.

[0067] The end face distance safety threshold storage module is used to store the preset upper and lower safety limits of the end face distance. These thresholds are pre-calibrated based on the length of the hydraulic support top beam and the diameter of the coal mining machine drum, and serve as the benchmark for judging whether the end face distance is safe.

[0068] The end face distance comparison and judgment module compares the measured end face distance value output by the data acquisition module with the sum stored in the end face distance safety threshold storage module, and calculates the end face distance deviation and its direction, such as whether it is too large or too small. This module is the core of the system decision-making process. Based on the comparison result, it triggers subsequent control procedures: if the end face distance does not exceed the safety range, the current control parameters are maintained; if it exceeds the safety range, the control parameter adjustment or template truncation correction procedure is initiated.

[0069] The real-time adjustment module for the coal mining machine control parameters is used to determine the deviation amount and direction output by the module based on the end face distance comparison, calculate the adjustment amount of the coal mining machine's traction speed and drum height, and generate control commands. Among them, the adjustment of traction speed takes precedence over the adjustment of drum height: when the first offset threshold is exceeded, the traction speed is first reduced to the first traction speed; when the second offset threshold is exceeded (the second threshold is greater than the first threshold), the traction speed is further reduced to the second traction speed (the second traction speed is less than the first traction speed), and the drum height adjustment is initiated.

[0070] The end-face distance-driven self-correction module for the cutting template reads the historical cutting data of the most recent cutter from the cutting template storage and management module. This historical cutting data includes cutter number, cutting height sequence, traction speed sequence, and measured end-face distance sequence. The module uses the measured end-face distance change sequence for each cutter as the evaluation criterion to determine the degree of matching between the current cutting template and the coal seam conditions. When the measured end-face distance values ​​of multiple consecutive cutters show a systematic deviation, the cutting template correction process is automatically triggered: based on the deviation trend of the historical end-face distances from the safe range of multiple cutters, combined with the deviation between the actual cutting trajectory of each cutter and the target cutting trajectory, a cutting height correction amount is generated, and the cutting curve in the cutting template is adjusted based on this correction amount.

[0071] The corrected template verification module is used to continuously monitor the measured value of the end face distance during the next cut mining process to verify the effectiveness of the cutting template correction: if the direction of the corrected end face distance deviation is consistent with the expectation and the deviation magnitude decreases, the correction is determined to be effective and the subsequent correction steps continue to be executed; if the deviation direction is opposite or the magnitude increases after correction, the correction direction is determined to be incorrect, the remaining correction steps are immediately paused and an alarm is sent to the centralized control system.

[0072] The instruction issuing module is used to send the traction speed and drum height control instructions generated by the coal mining machine control parameter real-time adjustment module, or the cutting template adjustment instructions generated by the end face distance driven cutting template self-correction module, to the coal mining machine control system through the underground industrial ring network, so as to drive the coal mining machine to execute the cutting operation of the next time step.

[0073] The coal mining machine control system receives control commands from the instruction sending module, drives the coal mining machine to adjust the traction speed and drum height, or executes the modified cutting template to complete the cutting operation on the coal wall, so that the distance between the cut ends returns to a safe range.

[0074] The coal mining machine end face distance control system provided by this invention achieves precise control of the end face distance through a closed-loop process of real-time measurement, comparison and judgment, parameter adjustment / template correction, and verification execution. It not only addresses short-term deviations by adjusting control parameters in real time, but also solves long-term systematic deviations by self-correcting the cutting template, ensuring that a reasonable safe space relationship is maintained between the hydraulic support and the coal wall.

[0075] The following describes the coal mining machine end face distance control device based on direct ranging provided by the present invention. The coal mining machine end face distance control device based on direct ranging described below can be referred to in correspondence with the coal mining machine end face distance control method based on direct ranging described above.

[0076] Figure 5 This is a schematic diagram of the structure of the coal mining machine end face distance control device based on direct ranging provided by the present invention. Figure 5As shown, the coal mining machine end face distance control device 500 based on direct distance measurement includes the following modules.

[0077] The acquisition module 510 is used to acquire the target end face distance of the coal mining machine at the target time step using a ranging device; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall.

[0078] The determining module 520 is used to determine that the target end face distance exceeds the end face distance safety range; The adjustment module 530 is used to adjust the control parameters of the coal mining machine according to the offset of the target end face distance exceeding the safe range of end face distance.

[0079] The execution module 540 is used to perform a cutting operation on the coal wall at the next time step based on the adjusted control parameters, so that the end face distance obtained from the cut coal wall returns to the safe range of the end face distance.

[0080] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a coal mining machine end face distance control method based on direct ranging. This method includes: using a ranging device to obtain the target end face distance of the coal mining machine at the target time step; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; determining that the target end face distance exceeds the end face distance safety range; adjusting the control parameters of the coal mining machine according to the offset of the target end face distance exceeding the end face distance safety range; and executing a cutting operation on the coal wall at the next time step based on the adjusted control parameters, so that the end face distance obtained from the cut coal wall returns to the end face distance safety range.

[0081] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0082] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the coal mining machine end face distance control method based on direct ranging provided by the above methods. The method includes: using a ranging device to obtain the target end face distance of the coal mining machine at the target time step; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; determining that the target end face distance exceeds the end face distance safety range; adjusting the control parameters of the coal mining machine based on the offset of the target end face distance exceeding the end face distance safety range; and performing a cutting operation on the coal wall at the next time step based on the adjusted control parameters, so that the end face distance obtained based on the cut coal wall returns to the end face distance safety range.

[0083] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the coal mining machine end face distance control method based on direct ranging provided by the above methods. This method includes: using a ranging device to obtain the target end face distance of the coal mining machine at a target time step; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; determining that the target end face distance exceeds the end face distance safety range; adjusting the control parameters of the coal mining machine based on the offset of the target end face distance exceeding the end face distance safety range; and, based on the adjusted control parameters, performing a cutting operation on the coal wall at the next time step, so that the end face distance obtained based on the cut coal wall returns to the end face distance safety range.

[0084] 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.

[0085] 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.

[0086] 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 controlling the end face distance of a coal mining machine based on direct ranging, characterized in that, include: Using a ranging device, the target end face distance corresponding to the coal mining machine at the target time step is obtained; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; It was determined that the target end face distance exceeded the safe end face distance range; The control parameters of the coal mining machine are adjusted according to the offset of the target end face distance from the safe end face distance range; Based on the adjusted control parameters, the next time step is used to perform a cutting operation on the coal wall so that the end face distance obtained from the cut coal wall returns to the safe range of the end face distance.

2. The method for controlling the end face distance of a coal mining machine based on direct ranging according to claim 1, characterized in that, The control parameters include traction speed and drum height; The step of adjusting the control parameters of the coal mining machine based on the offset of the target end face distance exceeding the safe range of end face distance includes: If the offset is greater than the first offset threshold, the traction speed is reduced to the first traction speed; If the offset is greater than the second offset threshold, the traction speed is reduced to the second traction speed, and the roller height is adjusted according to the offset. Wherein, the first offset threshold is less than the second offset threshold, and the first traction speed is greater than the second traction speed.

3. The method for controlling the end face distance of a coal mining machine based on direct ranging according to claim 2, characterized in that, The step of adjusting the roller height based on the offset includes: It is determined that the target end face distance is less than the safe range of end face distance; If the current working face is undercut or horizontal coal seam mining, raise the height of the drum to increase the height of the floor of the current working face; If the current working face is in a downward mining position, reduce the height of the roller to lower the height of the bottom plate of the current working face.

4. The method for controlling the end face distance of a coal mining machine based on direct ranging according to claim 2, characterized in that, The step of adjusting the roller height based on the offset includes: It is determined that the target end face distance is greater than the safe range for end face distance; If the current working face is undercut or horizontal coal seam mining, reduce the height of the drum to lower the floor height of the current working face; If the current working face is in a downward mining position, raise the height of the roller to increase the height of the bottom plate of the current working face.

5. The method for controlling the end face distance of a coal mining machine based on direct ranging according to any one of claims 1 to 4, characterized in that, The method further includes: Acquire historical cutting data; wherein, the historical cutting data includes the historical end face distance of multiple blades; It is determined that the historical end face distances of multiple cutters before the target time step all deviate from the safe range of the end face distances, and the number of multiple cutters reaches the target number of cutters; The cutting template used by the coal mining machine is adjusted according to the deviation between the historical end face distance of the multi-blade and the safe range of the end face distance; Based on the adjusted cutting template, the next cut is performed on the coal face.

6. The method for controlling the end face distance of a coal mining machine based on direct ranging according to claim 5, characterized in that, The historical cutting data also includes the deviation between the actual cutting trajectory of each cutter and the target cutting trajectory; The step of adjusting the cutting template used by the coal mining machine based on the deviation between the historical end face distance of the multi-blade and the safe range of the end face distance includes: Based on the deviation between the historical end face distance of the multi-blade and the safe range of the end face distance, determine the changing trend of the deviation between the historical end face distance of each blade and the safe range of the end face distance; Based on the changing trend and the deviation between the actual cutting trajectory of each blade and the target cutting trajectory, a correction amount for the cutting height is generated so that the end face distance of subsequent blades returns to the safe range of the end face distance based on the correction amount. The cutting template is adjusted based on the correction amount of the cutting height.

7. The method for controlling the end face distance of a coal mining machine based on direct ranging according to claim 6, characterized in that, Adjusting the cutting template based on the correction amount of the cutting height includes: Based on the cutoff offset limit, the correction amount is decomposed into at least one step size; Adjust the cutting curve in the cutting template of at least one subsequent cutter according to each step length.

8. A coal mining machine end face distance control device based on direct distance measurement, characterized in that, include: The acquisition module is used to acquire the target end face distance of the coal mining machine at the target time step using a ranging device; the target end face distance is determined based on the horizontal distance between the front end of the hydraulic support top beam of the coal mining machine and the coal wall; The determination module is used to determine whether the target end face distance exceeds the safe range for end face distance; The adjustment module is used to adjust the control parameters of the coal mining machine according to the offset of the target end face distance exceeding the safe range of the end face distance; An execution module is used to perform a cutting operation on the coal wall at the next time step based on the adjusted control parameters, so that the end face distance obtained from the cut coal wall returns to the safe range of the end face distance.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the coal mining machine end face distance control method based on direct ranging as described in any one of claims 1 to 7.

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

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