METHOD AND DEVICE FOR OBTAINING THE DISTANCE OF A MINING FACE, ELECTRONIC DEVICE AND STORAGE MEDIA

Abstract

The present invention provides a method and apparatus for acquiring an advancing distance of a working face, and an electronic device and a storage medium. The method comprises: acquiring continuous multiple frames of point cloud data of a preset target in a working face; on the basis of the continuous multiple frames of point cloud data, acquiring a distance value between the preset target corresponding to each frame of point cloud data and a preset reference position; and on the basis of a difference between at least two distance values among the multiple distance values, acquiring an advancing distance value of the working face. By means of the technical solution of the present invention, the problem of low effectiveness of the related technical solution can be effectively avoided, and the application scenarios are wide.

Description

Method, device, electronic device and storage medium for obtaining working face advancement distance Technical Field

[0001] The present disclosure relates to the technical field of mine mining, and in particular to a method, device, electronic device and storage medium for acquiring a working face advancement distance. Background Art

[0002] Related technologies typically derive the advance distance of a working face based on image data of the working face or changes in feature points before and after mining operations. Solutions based on image data of the working face require identifiers to be placed on the mining equipment. Due to the complex working face environment, these identifiers are easily obscured, rendering these solutions ineffective. Solutions based on changes in feature points before and after mining operations rely on measuring the distance between adjacent hydraulic supports, which has significant limitations.

[0003] Summary of the Invention

[0004] The present disclosure aims to solve one of the technical problems in the related art at least to a certain extent.

[0005] To this end, the first purpose of the present disclosure is to propose a method for obtaining the advancement distance of a working surface, including: obtaining continuous multi-frame point cloud data of a preset target in the working surface; based on the continuous multi-frame point cloud data, obtaining the distance value between the preset target and the preset reference position corresponding to each frame of the point cloud data; based on the difference between at least two of the multiple distance values, obtaining the advancement distance value of the working surface.

[0006] In one implementation, the obtaining of continuous multi-frame point cloud data of a preset target in the working surface includes: obtaining second point cloud data of the working surface; performing data cleaning on the second point cloud data to obtain third point cloud data; performing point cloud classification and target extraction based on the third point cloud data to obtain point cloud data of the preset target.

[0007] In one implementation, the obtaining of continuous multiple frames of point cloud data of a preset target in the working face includes: in response to receiving a first instruction, obtaining a first frame of point cloud data of the preset target; wherein, the first instruction is issued before the mining operation on the working face is performed; in response to receiving a second instruction, obtaining a second frame of point cloud data of the preset target; wherein, the first instruction is issued after the mining operation on the working face is completed.

[0008] In an optional implementation, obtaining the advancement distance value of the working surface based on multiple distance values ​​includes: obtaining the difference between a first distance value corresponding to the first frame point cloud data and a second distance value corresponding to the second frame point cloud data as the advancement distance value of the working surface.

[0009] In one implementation, the obtaining of continuous multi-frame point cloud data of a preset target in the working face includes: obtaining the operation duration of a single mining operation on the working face; in response to the working face entering a mining operation state, obtaining continuous multi-frame point cloud data of the preset target within a time period corresponding to the operation duration.

[0010] In an optional implementation, obtaining the advancement distance value of the working surface based on multiple distance values ​​includes: obtaining the maximum distance value and the minimum distance value among the multiple distance values; obtaining the difference between the maximum distance value and the minimum distance value as the advancement distance value of the working surface.

[0011] In one implementation, based on the continuous multiple frames of point cloud data, obtaining the distance value between the preset target and the preset reference position corresponding to each frame of the point cloud data includes: obtaining partial point cloud data in each frame of the point cloud data; wherein the partial point cloud data is point cloud data corresponding to the first vertical plane above the preset target in the point cloud data; based on the continuous multiple frames of the partial point cloud data, obtaining the distance value between the first vertical plane corresponding to each frame of the partial point cloud data and the reference position.

[0012] The second purpose of the present disclosure is to propose a device for obtaining the advancement distance of a working surface, comprising: an acquisition module for obtaining continuous multi-frame point cloud data of a preset target in the working surface; a first processing module for obtaining, based on the continuous multi-frame point cloud data, the distance value between the preset target and a preset reference position corresponding to each frame of the point cloud data; and a second processing module for obtaining the advancement distance value of the working surface based on the difference between at least two of the multiple distance values.

[0013] In one implementation, the acquisition module is specifically used to: acquire continuous multi-frame overall point cloud data of the working surface; perform data cleaning on the continuous multi-frame overall point cloud data; perform point cloud classification and target extraction based on the overall point data after data cleaning, and acquire continuous multi-frame point cloud data of preset targets in the working surface.

[0014] In one implementation, the acquisition module is specifically used to: in response to receiving a first instruction, acquire a first frame of point cloud data of the preset target; wherein, the first instruction is issued before the mining operation is carried out on the working face; in response to receiving a second instruction, acquire a second frame of point cloud data of the preset target; wherein, the first instruction is issued after the mining operation on the working face is completed.

[0015] In an optional implementation, the second processing module is specifically used to obtain a difference between a first distance value corresponding to the first frame point cloud data and a second distance value corresponding to the second frame point cloud data as the advancement distance value of the working surface.

[0016] In one implementation, the acquisition module is specifically used to: obtain the operation duration of a single mining operation on the working face; in response to the working face entering the mining operation state, obtain continuous multi-frame point cloud data of the preset target within the time period corresponding to the operation duration.

[0017] In an optional implementation, the second processing module is specifically used to: obtain a maximum distance value and a minimum distance value among the multiple distance values; obtain a difference between the maximum distance value and the minimum distance value as the advancement distance value of the working surface.

[0018] In one implementation, the first processing module is specifically used to: obtain partial point cloud data in each frame of the point cloud data; wherein, the partial point cloud data is point cloud data corresponding to a first vertical plane above a preset target in the point cloud data; based on multiple consecutive frames of the partial point cloud data, obtain the distance value between the first vertical plane corresponding to each frame of the partial point cloud data and the reference position.

[0019] A third object of the present disclosure is to provide an electronic device, comprising: a sensor, a processor, and a memory communicatively connected to the processor; the sensor is used to obtain continuous multi-frame point cloud data of a preset target in a working face; the memory stores computer-executable instructions; the processor executes the computer-executable instructions stored in the memory, so that the at least one processor can execute the control method for the conveyor tail of the anchor miner as described in the first aspect.

[0020] A fourth object of the present disclosure is to provide a computer-readable storage medium for storing instructions, which, when executed, enables the method described in the first aspect to be implemented.

[0021] A fifth object of the present disclosure is to provide a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the computer program implements the steps of the method for controlling a bolter miner conveyor tail as described in the first aspect.

[0022] The disclosed method, device, electronic device, and storage medium for obtaining the working surface advance distance can obtain multiple distance values ​​between a preset target and a preset reference position based on continuous multi-frame point cloud data of a preset target in the working surface, thereby obtaining the working surface advance distance value based on the multiple distance values. This method effectively avoids the low effectiveness of related technical solutions and has a wide range of application scenarios.

[0023] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In the drawings, which are not necessarily drawn to scale, the same reference numerals may describe similar parts in different views. The same reference numerals with letter suffixes or different letter suffixes may represent different instances of similar parts. The drawings generally illustrate various embodiments by way of example and not limitation, and together with the description and claims, serve to illustrate the disclosed embodiments. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be exhaustive or exclusive embodiments of the apparatus or method. The drawings described herein are used to provide a further understanding of the present disclosure and constitute a part of the present disclosure. The illustrative embodiments of the present disclosure and their description are used to explain the present disclosure and do not constitute an improper limitation on the present disclosure. In the drawings:

[0025] FIG1 is a schematic flow chart of a method for obtaining a working face advancement distance according to an embodiment of the present disclosure;

[0026] FIG2 is a schematic flow chart of another method for obtaining a working surface advancement distance provided by an embodiment of the present disclosure;

[0027] FIG3 is a schematic flow chart of another method for obtaining a working face advancement distance provided in an embodiment of the present disclosure;

[0028] FIG4 is a schematic flow chart of another method for obtaining a working surface advancement distance provided in an embodiment of the present disclosure;

[0029] FIG5a is a schematic diagram of instant support of a hydraulic support provided by an embodiment of the present disclosure;

[0030] FIG5 b is a schematic diagram of the change in the distance between the reference position, the coal wall, and the scraper conveyor in an instant support method provided by an embodiment of the present disclosure;

[0031] FIG6 a is a schematic diagram of a hysteresis support of a hydraulic support provided by an embodiment of the present disclosure;

[0032] FIG6 b is a schematic diagram of the change in the distance between the reference position, the coal wall, and the scraper conveyor in a lagging support method provided by an embodiment of the present disclosure;

[0033] FIG7 is a schematic flow chart of another method for obtaining a working surface advancement distance provided in an embodiment of the present disclosure;

[0034] FIG8 is a schematic diagram of a solution for obtaining the working surface advancement distance according to an embodiment of the present disclosure;

[0035] FIG9 is a schematic diagram of a solution for obtaining a distance value between a sensor and a first target provided by an embodiment of the present disclosure;

[0036] FIG10 is a schematic structural diagram of a device for obtaining a working surface advancement distance provided by an embodiment of the present disclosure;

[0037] FIG11 is a schematic structural diagram of an electronic device provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0038] The specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings, but are not intended to limit the present disclosure.

[0039] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the above description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0040] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0041] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0042] It should also be understood that although the present disclosure has been described with reference to certain specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the characteristics recited in the claims and are therefore within the scope of protection defined thereby.

[0043] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0044] Specific embodiments of the present disclosure will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant detail. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but rather serve merely as a basis and representative basis for the claims to teach those skilled in the art to variously employ the present disclosure with substantially any suitable detailed structure.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present disclosure and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present disclosure described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0046] This description may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," each of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0047] The first embodiment of the present disclosure provides a method for obtaining the working face advancement distance, wherein the working face is a coal mining working face in a mine mining scenario. FIG1 is a flow chart of the method for obtaining the working face advancement distance provided by the embodiment of the present disclosure. As shown in FIG1 , the method may include but is not limited to the following steps:

[0048] Step S101: Acquire continuous multi-frame point cloud data of a first target in a working surface.

[0049] For example, based on pre-set sensors (such as lidar, binocular camera, depth camera, etc.), continuous multi-frame point cloud data of the first target in the working face is obtained when the working face is performing a single-knife coal cutting operation.

[0050] In the embodiment of the present disclosure, the first target is a preset target, which may be a mining device (eg, a scraper conveyor) in the working face, or a coal wall in which mining operations are being carried out in the working face.

[0051] In the embodiment of the present disclosure, the sensor can be set on the top beam of the hydraulic support of the working surface.

[0052] Step S102: Based on multiple frames of point cloud data, a distance value between a first target and a preset reference position corresponding to each frame of point cloud data is obtained.

[0053] For example, based on the point cloud data of the first target in each frame, the distance value between the first target and the reference position is obtained, and based on the distance value, the distance value between the first target and the reference position in the direction parallel to the ground of the working surface is calculated as the distance value between the first target and the preset reference position corresponding to each frame of point cloud data.

[0054] In some embodiments of the present disclosure, the reference position may be the installation position of the sensor.

[0055] Step S103: obtaining an advancing distance value of the working surface based on a difference between at least two of the plurality of distance values.

[0056] For example, the difference in distance between the first target and the reference position before and after the single-knife coal mining operation is obtained based on multiple distance values ​​as the advancement distance value of the working face.

[0057] By implementing the embodiments of the present disclosure, multiple distance values ​​between the first target and the preset reference position can be obtained based on the continuous multi-frame point cloud data of the first target in the working surface, thereby obtaining the advancement distance value of the working surface based on the multiple distance values. This can effectively avoid the problem of low effectiveness of related technical solutions and has a wide range of applicable scenarios.

[0058] In one implementation, point cloud data of the entire working surface scene can be obtained and processed to obtain point cloud data of the first target in the working surface. As an example, please refer to Figure 2, which is a flow chart of another method for obtaining the working surface advancement distance provided by an embodiment of the present disclosure. As shown in Figure 2, obtaining continuous multi-frame point cloud data of the first target in the working surface can include but is not limited to the following steps:

[0059] Step S201: Acquire continuous multi-frame overall point cloud data of the working surface.

[0060] For example, a pre-set sensor is used to obtain continuous multi-frame second point cloud data when the working face is performing a single-knife coal mining operation.

[0061] Step S202: performing data cleaning on multiple frames of overall point cloud data.

[0062] For example, data cleaning is performed on continuous multi-frame overall point cloud data to filter out noise point clouds such as discrete points and invalid points in the continuous multi-frame overall point cloud data.

[0063] Step S203: performing point cloud classification and target extraction based on the overall point count data after data cleaning, and obtaining continuous multi-frame point cloud data of the first target in the working surface.

[0064] For example, the geometric contour information of the first target and the spatial position information of the sensor are obtained in advance, and based on the above information, point cloud classification and target extraction are performed on the overall point count data after data cleaning to obtain continuous multi-frame point cloud data of the first target during the single-knife coal mining operation.

[0065] Step S204: Based on the continuous multiple frames of point cloud data, obtain the distance value between the first target corresponding to each frame of point cloud data and a preset reference position.

[0066] In the embodiment of the present disclosure, step S204 can be implemented by using any of the methods in the embodiments of the present disclosure, which is not limited in the embodiment of the present disclosure and will not be described in detail.

[0067] Step S205: Based on the multiple distance values, obtain the advancing distance value of the working surface.

[0068] In the embodiment of the present disclosure, step S205 can be implemented by using any of the methods in the embodiments of the present disclosure, which is not limited in the embodiment of the present disclosure and will not be described in detail.

[0069] By implementing the disclosed embodiments, it is possible to obtain and process point cloud data of a work surface, obtaining continuous multi-frame point cloud data of a first target in the work surface. Based on the continuous multi-frame point cloud data of the first target, multiple distance values ​​between the first target and a preset reference position can be obtained, and the advance distance value of the work surface can be obtained based on the multiple distance values. This effectively avoids the low effectiveness of related technical solutions and has a wide range of applicable scenarios.

[0070] In one implementation, after receiving a point cloud data acquisition instruction, point cloud data of the first target in the working surface can be acquired. As an example, see Figure 3, which is a flow chart of another method for acquiring the working surface advancement distance provided by an embodiment of the present disclosure. As shown in Figure 3, this method may include but is not limited to the following steps:

[0071] Step S301: In response to receiving a first instruction, obtaining a first frame of point cloud data of a first target.

[0072] In an embodiment of the present disclosure, the first instruction is issued before the mining operation is carried out at the working face.

[0073] As an example, consider a scraper conveyor as the first target. Upon receiving a mining instruction and before executing a mining action, the scraper conveyor controller can send a first instruction. Upon receiving the first instruction, the controller acquires a first frame of point cloud data for the first target via a pre-configured sensor.

[0074] As another example, the mining control center may send a first instruction before sending an action instruction to the mining equipment in the working face, so that after receiving the first instruction, a first frame of point cloud data of the first target is acquired through a pre-set sensor.

[0075] Step S302: In response to receiving the second instruction, obtaining a second frame of point cloud data of the first target.

[0076] In the embodiment of the present disclosure, the first instruction is issued after the mining operation of the working face is completed.

[0077] As an example, consider a scraper conveyor as the first target. After receiving a mining stop command and stopping the operation, the scraper conveyor controller can send a second command. Upon receiving the second command, a pre-configured sensor acquires a second frame of point cloud data for the first target.

[0078] As another example, after sending a stop action instruction to the mining equipment in the working face, the mining control center may send a second instruction, so that after receiving the second instruction, a second frame of point cloud data of the first target is acquired through a pre-set sensor.

[0079] Step S303: Based on the continuous multiple frames of point cloud data, obtain the distance value between the first target corresponding to each frame of point cloud data and the preset reference position.

[0080] For example, based on the first frame point cloud data, the first distance value between the first target and the preset reference position at the moment corresponding to the first frame point cloud data is obtained, and based on the second frame point cloud data, the first distance value between the first target and the preset reference position at the moment corresponding to the second frame point cloud data is obtained.

[0081] Step S304: obtaining a difference between a first distance value corresponding to the first frame of point cloud data and a second distance value corresponding to the second frame of point cloud data as an advancing distance value of the working surface.

[0082] By implementing the disclosed embodiments, after receiving a point cloud data acquisition instruction, point cloud data of a first target in the working face before and after the mining equipment is moved can be acquired. Based on the acquired point cloud data, multiple distance values ​​between the first target and a preset reference position can be obtained, and the advance distance value of the working face can be obtained based on the multiple distance values. This effectively avoids the low effectiveness of related technical solutions and has a wide range of applicable scenarios.

[0083] In one implementation, multiple frames of continuous point cloud data of the first target can be acquired within a predetermined time period. As an example, see FIG4 , which is a flow chart of another method for acquiring the working surface advancement distance provided by an embodiment of the present disclosure. As shown in FIG4 , the method may include but is not limited to the following steps:

[0084] Step S401: Obtain the operation duration of a single mining operation on the working face.

[0085] For example, based on prior knowledge such as the cutting depth of the coal mining machine in the working face, the time it takes for a single hydraulic support to complete the support action, and the time it takes for the coal mining machine to complete the single-knife coal cutting operation, the required operation time for single-knife coal mining operations in the working face can be obtained.

[0086] Step S402: In response to the working face entering a mining operation state, continuous multi-frame point cloud data of the first target is acquired within a period corresponding to the operation duration.

[0087] For example, in response to the mining equipment in the working face entering the mining operation state, during the duration of the single-knife coal mining operation performed by the mining equipment in the working face, a frame of point cloud data of the first target is obtained every preset time (for example, 30 seconds), thereby obtaining continuous multiple frames of point cloud data of the first target within the time period corresponding to the operation duration.

[0088] Step S403: Based on the continuous multiple frames of point cloud data, obtain the distance value between the first target corresponding to each frame of point cloud data and a preset reference position.

[0089] In the embodiment of the present disclosure, step S403 can be implemented in any of the ways in the embodiments of the present disclosure, which is not limited in the embodiment of the present disclosure and will not be described in detail.

[0090] Step S404: Obtain the maximum distance value and the minimum distance value among the multiple distance values.

[0091] Step S405: Obtain the difference between the maximum distance value and the minimum distance value as the advancing distance value of the working surface.

[0092] As an example, please refer to Figures 5a and 5b. Figure 5a is a schematic diagram of instant support of a hydraulic support provided by an embodiment of the present disclosure. Figure 5b is a schematic diagram of the change in the distance between the reference position, the coal wall, and the scraper conveyor in an instant support method provided by an embodiment of the present disclosure. As shown in Figures 5a and 5b, when the hydraulic support is in the instant support working mode, multiple horizontal distance values ​​between the reference position and the coal wall, or between the reference position and the scraper conveyor at different times during the period of the one-cut coal cutting operation can be obtained, thereby obtaining the advance distance value of the working face for the one-cut coal cutting operation based on the difference between the maximum and minimum values ​​among the multiple horizontal distance values.

[0093] As an example, please refer to Figures 6a and 6b. Figure 6a is a schematic diagram of a delayed support of a hydraulic support provided by an embodiment of the present disclosure. Figure 6b is a schematic diagram of the change in the distance between the reference position and the coal wall and the scraper conveyor in a delayed support method provided by an embodiment of the present disclosure. As shown in Figures 6a and 6b, when the hydraulic support is in the delayed support working mode, multiple horizontal distance values ​​between the reference position and the coal wall, or between the reference position and the scraper conveyor at different times during the period of the one-cut coal cutting operation can be obtained, thereby obtaining the advancement distance value of the working face for the one-cut coal cutting operation based on the difference between the maximum and minimum values ​​among the multiple horizontal distance values.

[0094] By implementing the disclosed embodiments, it is possible to obtain continuous multi-frame point cloud data of a first target at multiple different moments during a single-knife coal cutting operation of a mining device. Based on this continuous multi-frame point cloud data, multiple distance values ​​between the first target and a preset reference position can be obtained, and the advance distance of the working face can be determined based on these multiple distance values. This eliminates the need for communication with the mining device, effectively avoiding the low effectiveness of related technical solutions and offering a wide range of applications.

[0095] In one implementation, point cloud data of a vertical surface above the first target can be obtained based on multiple frames of continuous point cloud data of the first target, thereby obtaining the distance value between the first target and the reference position based on the point cloud data of the vertical surface. As an example, please refer to Figure 7, which is a flow chart of another method for obtaining the working surface advancement distance provided by an embodiment of the present disclosure. As shown in Figure 7, this method may include but is not limited to the following steps:

[0096] Step S701: Acquire continuous multi-frame point cloud data of the first target in the working surface.

[0097] In the embodiment of the present disclosure, step S701 can be implemented in any of the ways in the embodiments of the present disclosure, which is not limited in the embodiment of the present disclosure and will not be described in detail.

[0098] Step S702: Obtain part of the point cloud data in each frame of point cloud data.

[0099] In an embodiment of the present disclosure, the above-mentioned partial point cloud data is point cloud data corresponding to a first vertical plane above the first target in the point cloud data.

[0100] For example, based on the continuous multi-frame point cloud data of the first target, partial point cloud data of a first vertical plane perpendicular to the ground of the working surface above the first target is obtained.

[0101] Step S703: Based on multiple frames of partial point cloud data, obtain a distance value between the first vertical plane and the reference position corresponding to each frame of partial point cloud data.

[0102] For example, multiple distance values ​​between the reference position and the first vertical plane during the single-knife coal mining operation are obtained based on each frame of partial point cloud data.

[0103] Step S704: Based on the multiple distance values, obtain the advancing distance value of the working surface.

[0104] By implementing the disclosed embodiments, point cloud data of a vertical surface above the first target can be obtained based on multiple frames of continuous point cloud data of the first target. This allows the distance between the first target and a reference position to be obtained based on the point cloud data of the vertical surface, and thus the advance distance value of the working surface to be obtained based on the multiple distance values. This effectively avoids the low effectiveness of related technical solutions, improves the accuracy of the obtained advance distance value, and has a wide range of application scenarios.

[0105] In some embodiments of the present disclosure, the above embodiments can be used to obtain the advancement distance values ​​of multiple single-knife coal mining operations of the working face within a preset period of time, and the above advancement distance values ​​can be accumulated to obtain the advancement degree of the working face.

[0106] Please refer to Figure 8, which is a schematic diagram of a method for obtaining the working face advancement distance according to an embodiment of the present disclosure. As shown in Figure 8, if the sensor can communicate with the mining equipment on the working face, a signal can be sent to the sensor via the communication transmission link before and after the mining equipment is activated. Based on the point cloud data acquired by the sensor, the distance values ​​h1 and h2 between the sensor and a typical feature in the working face (i.e., the aforementioned first target) before and after the mining equipment is activated are respectively obtained. The difference between h1 and h2 is then used as the single advancement distance of the working face generated by the single-knife coal cutting of the coal mining machine.

[0107] If the sensor and the mining equipment on the working face cannot communicate, we can use prior knowledge such as the shearer's cutting depth, the time it takes for a single hydraulic support to complete its support action, and the time it takes for the shearer to complete a single-knife coal cutting operation. Based on the point cloud data acquired by the sensor, we can obtain multiple distances h1, h2…hn between the hydraulic support, scraper conveyor, and shearer at different moments during the single-knife coal cutting operation. We can then obtain the maximum value hmax and the minimum value hmin among h1, h2…hn, and use the difference between hmax and hmin as the single-knife coal cutting distance of the working face.

[0108] Please refer to Figure 9, which is a schematic diagram of a method for obtaining the distance value between a sensor and a first target provided by an embodiment of the present disclosure. As shown in Figure 9, in this method, the overall point cloud data of the entire working surface scene can be obtained by a pre-set sensor, and the overall point cloud data can be preprocessed to filter out noise point clouds such as discrete points and invalid points in the overall point cloud data; based on the overall point cloud data after preprocessing, combined with prior information such as the geometric contour information of a first target in the working surface and the spatial position information of the sensor, the point cloud data of the first target is extracted; then, based on the point cloud data of the first target, the plane point cloud data of a plane perpendicular to the ground of the working surface in the typical feature is obtained, and thus, based on the plane point cloud data, the distance value between the sensor and the plane is obtained as the distance value between the sensor and the first target.

[0109] Based on the same inventive concept, the second embodiment of the present disclosure provides a device for obtaining the advance distance of a working surface. Figure 10 is a schematic structural diagram of the device for obtaining the advance distance of a working surface provided in the embodiment of the present disclosure. As shown in Figure 10, the device 1000 includes: an acquisition module 1001 for acquiring continuous multi-frame point cloud data of a first target in the working surface; a first processing module 1002 for acquiring, based on the continuous multi-frame point cloud data, the distance value between the first target and a preset reference position corresponding to each frame of the point cloud data; and a second processing module 1003 for acquiring the advance distance value of the working surface based on the multiple distance values.

[0110] In one implementation, the acquisition module 1001 is specifically used to: acquire continuous multi-frame overall point cloud data of the working surface; perform data cleaning on the continuous multi-frame overall point cloud data; perform point cloud classification and target extraction based on the overall point count data after data cleaning, and acquire continuous multi-frame point cloud data of the first target in the working surface.

[0111] In one implementation, the acquisition module 1001 is specifically used to: in response to receiving a first instruction, acquire a first frame of point cloud data of a first target; wherein the first instruction is issued before the mining operation is carried out on the working face; in response to receiving a second instruction, acquire a second frame of point cloud data of the first target; wherein the first instruction is issued after the mining operation on the working face is completed.

[0112] In an optional implementation, the second processing module 1003 is specifically used to obtain a difference between a first distance value corresponding to the first frame point cloud data and a second distance value corresponding to the second frame point cloud data as the advancing distance value of the working surface.

[0113] In one implementation, the acquisition module 1001 is specifically used to: obtain the operation duration of a single mining operation on the working face; in response to the working face entering the mining operation state, obtain continuous multi-frame point cloud data of the first target within a period corresponding to the operation duration.

[0114] In an optional implementation, the second processing module 1003 is specifically used to: obtain a maximum distance value and a minimum distance value among multiple distance values; and obtain a difference between the maximum distance value and the minimum distance value as the advancing distance value of the working surface.

[0115] In one implementation, the first processing module 1002 is specifically used to: obtain partial point cloud data in each frame of point cloud data; wherein the partial point cloud data is point cloud data corresponding to the first vertical plane above the first target in the point cloud data; based on multiple consecutive frames of partial point cloud data, obtain the distance value between the first vertical plane corresponding to each frame of partial point cloud data and the reference position.

[0116] The device of the disclosed embodiment can obtain multiple distance values ​​between a first target and a preset reference position based on multiple frames of continuous point cloud data of the first target in the work surface, thereby obtaining the advance distance value of the work surface based on the multiple distance values. This effectively avoids the low effectiveness of related technical solutions and has a wide range of application scenarios.

[0117] It should be noted that the above explanation of the embodiment of the method for obtaining the working face advancement distance is also applicable to the device for obtaining the working face advancement distance of this embodiment, and will not be repeated here.

[0118] Based on the same inventive concept, in order to implement the above embodiments, the third embodiment of the present disclosure also proposes an electronic device. Please refer to Figure 11, which is a structural diagram of the electronic device provided by the embodiment of the present disclosure. As shown in Figure 11, the electronic device 1100 includes: a sensor 1101, a processor 1102, and a memory 1103 that is communicatively connected to the processor 1102; the memory 1103 stores computer-executable instructions; the processor 1102 executes the computer-executable instructions stored in the memory to implement the method provided by the above embodiments. The steps of the above method implemented by the processor 1102 when executing the computer program on the memory specifically include:

[0119] S11, acquiring continuous multi-frame point cloud data of a preset target in the working surface;

[0120] S12, based on the continuous multiple frames of point cloud data, obtaining a distance value between the preset target and a preset reference position corresponding to each frame of the point cloud data;

[0121] S13: Obtaining the advancing distance value of the working surface based on the difference between at least two of the multiple distance values.

[0122] Based on the same inventive concept, in order to implement the above embodiments, a fourth embodiment of the present disclosure further provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer-executable instructions. When the computer-executable instructions are executed by a processor, they are used to implement the methods provided in the above embodiments. For example, the steps of implementing the above methods include:

[0123] S21, acquiring continuous multi-frame point cloud data of a preset target in the working surface;

[0124] S22, based on the continuous multiple frames of point cloud data, obtaining a distance value between the preset target and a preset reference position corresponding to each frame of the point cloud data;

[0125] S23: Obtain the advancing distance value of the working surface based on the difference between at least two of the multiple distance values.

[0126] Of course, other steps of the control method can also be used to implement the above embodiment.

[0127] Based on the same inventive concept, in order to implement the above embodiments, a fifth embodiment of the present disclosure further proposes a computer program product, including a computer program, which implements the methods provided by the above embodiments when executed by a processor.

[0128] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this disclosure are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0129] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated into one processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this disclosure. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0130] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant description of other embodiments.

[0131] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this disclosure.

[0132] In the embodiments provided in the present disclosure, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are merely schematic. For example, the division of the modules or units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0133] The units described as separate components may or may not be physically separate, and 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 these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0134] In addition, the functional units in the various embodiments of the present disclosure may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0135] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present disclosure implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it can implement the steps of the above-mentioned motor torque control method embodiments. The computer program includes computer program code, which can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media does not include electric carrier signal and telecommunication signal.

[0136] In addition, the features of the various embodiments shown in the drawings of the present disclosure or mentioned in this specification are not necessarily to be understood as independent embodiments. Rather, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments that are not described in words or with reference to the drawings.

[0137] The embodiments described above are only used to illustrate the technical solutions of the present disclosure, rather than to limit them. Although the present disclosure has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present disclosure, and should all be included in the scope of protection of the present disclosure.

Claims

1. A method for obtaining the advancement distance of a working face, comprising the steps of: obtain continuous multiple frames of point cloud data of a given target object in a production face; obtaining, based on continuous multiple frames of point cloud data, a distance value between a given target object corresponding to each frame of point cloud data and a given reference position; and a value of the advancement distance of the working face is obtained based on the value of the difference between at least two of the plurality of distance values.

2. The method according to claim 1, wherein at the stage of obtaining continuous multiple frames of point cloud data of a given target object in a working face: obtain continuous multiple frames of complete point cloud data of the working face; performing data cleaning on multiple frames of the complete point cloud data; and perform point cloud classification and target object extraction based on the complete point cloud data on which data cleaning has been performed, and obtain continuous multiple frames of point cloud data of a given target object in a working face.

3. The method according to claim 1 or 2, wherein at the step of obtaining continuous multiple frames of point cloud data of a given target object in a working face: in response to receiving a first command, a first frame of point cloud data of a given target object is obtained, wherein the first command is issued before the working face performs a mining operation; and in response to receiving the second command, a second frame of point cloud data of the specified target object is received, wherein the first command is issued after the completion of the mining operation at the working face.

4. The method according to paragraph 3, in which at the stage of obtaining the value of the advancement distance of the working face based on a plurality of distance values: a difference value between a first distance value corresponding to a first frame of the point cloud data and a second distance value corresponding to a second frame of the point cloud data is obtained as a value of the advance distance of the working face.

5. The method according to claim 1 or 2, wherein at the step of obtaining continuous multiple frames of point cloud data of a given target object in a working face: obtain the duration of a single mining operation carried out at the working face; and in response to the fact that the working face enters the state of performing a mining operation, continuous multiple frames of point cloud data of a given target object are obtained within a period of time corresponding to the duration of the operation.

6. The method according to claim 1, wherein at the stage of obtaining the value of the working face advancement distance based on a plurality of distance values: obtain the maximum distance value and the minimum distance value among the set of distance values; and the difference value between the maximum distance value and the minimum distance value is obtained as the value of the advancement distance of the working face.

7. The method according to claim 1, wherein at the step of obtaining, based on continuous multiple frames of point cloud data, a value of the distance between a given target object corresponding to each frame of point cloud data and a given reference position: obtaining partial point cloud data in each frame of the point cloud data, wherein the partial point cloud data is point cloud data corresponding to a first vertical plane above a given target object in the point cloud data; and obtaining, based on continuous multiple frames of partial point cloud data, a value of the distance between a first vertical plane corresponding to each frame of partial point cloud data and a reference position.

8. A device for obtaining the advancement distance of a working face, comprising: a receiving module configured to receive continuous multiple frames of point cloud data of a given target object in a working face; a first processing module configured to obtain, based on continuous multiple frames of point cloud data, a distance value between a given target object corresponding to each frame of point cloud data and a given reference position; and a second processing module configured to obtain a value of the working face advance distance based on a difference value between at least two of the plurality of distance values.

9. An electronic device comprising: a sensor, a processor, and a memory connected to the processor; wherein the sensor is used to obtain continuous multiple frames of point cloud data of a given target object in a production face; the memory stores a computer-executable instruction; and the processor executes the computer-executable instruction stored in the memory so as to implement the method according to any one of claims 1-7.

10. A computer-readable storage medium that stores a computer-executable instruction, and when the computer-executable instruction is executed by a processor, the computer-executable instruction is used to implement the method according to any one of paragraphs 1-7.