CN114352301A

CN114352301A - Method and device for determining cutting track of boom-type roadheader and electronic equipment

Info

Publication number: CN114352301A
Application number: CN202111500557.8A
Authority: CN
Inventors: 范柄尧; 刘国鹏; 范海峰; 胡文芳; 靳明智; 康永玲; 李斌; 冯化; 杨勇; 金雪琪
Original assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Current assignee: Taiyuan Institute of China Coal Technology and Engineering Group; Shanxi Tiandi Coal Mining Machinery Co Ltd
Priority date: 2021-12-09
Filing date: 2021-12-09
Publication date: 2022-04-15

Abstract

The disclosure provides a method and a device for determining a cutting track of a boom-type roadheader and electronic equipment, and relates to the technical field of automation of boom-type roadheaders. The method comprises the following steps: acquiring a plurality of reference tracks; determining the position information of each inflection point in each reference track and the movement direction information of a cantilever of the heading machine at each inflection point; determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the cantilever of the heading machine at each inflection point; and determining target cutting tracks contained in the multiple reference tracks according to the path length of each reference track. Therefore, the reference track with the shortest path is selected from the multiple reference tracks according to the path length and is used as a target cutting track to automatically cut the roadway, so that the forming quality of the cutting section of the roadway is guaranteed, and the tunneling efficiency is improved.

Description

Method and device for determining cutting track of boom-type roadheader and electronic equipment

Technical Field

The disclosure relates to the technical field of boom-type roadheader automation, in particular to a method and a device for determining a cutting track of a boom-type roadheader and electronic equipment.

Background

The cantilever type heading machine is main equipment for coal mine roadway heading construction, and along with the increase of automation requirements of coal equipment, the intelligent control technology is applied to the heading machine more and more. For example, the cantilever type heading machine can dig a roadway according to a preset cutting track so as to ensure the forming quality of a cutting section of the roadway. However, if no proper cutting track exists, the automatic forming quality effect of the cutting section may be unsatisfactory, manual intervention is required in the construction process, and the tunneling efficiency is reduced. Therefore, how to determine the cutting track of the boom-type roadheader becomes a major research direction.

Disclosure of Invention

The present disclosure is directed to solving, at least to some extent, one of the technical problems in the related art.

The embodiment of the first aspect of the disclosure provides a method for determining a cutting track of a boom-type roadheader, which includes:

acquiring a plurality of reference tracks;

determining the position information of each inflection point in each reference track and the movement direction information of a cantilever of the heading machine at each inflection point;

determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the cantilever of the heading machine at each inflection point;

and determining target cutting tracks contained in the multiple reference tracks according to the path length of each reference track.

Optionally, after the determining the target cutting track, the method further includes:

and cutting the roadway according to the position information of each inflection point in the target cutting track and the movement direction information of the heading machine cantilever at each inflection point.

Optionally, after determining the target cutting track included in the multiple reference tracks according to the path length of each reference track, the method further includes:

responding to a plurality of target reference trajectories with the same path length and the shortest path length in the plurality of reference trajectories, and determining the number of inflection points contained in each target reference trajectory;

and determining the target reference track with the minimum number of inflection points as a target cutting track.

Optionally, the determining the position information of each inflection point in each reference trajectory and the movement direction information of the heading machine cantilever at each inflection point includes:

acquiring the distance between each inflection point and each surface of the roadway profile, a first angle difference between included angles of a cantilever of the heading machine and a first direction at two track points adjacent to each inflection point, and a second angle difference between included angles of the two track points and a second direction;

determining the position information of each inflection point according to the distance between each inflection point and each surface of the roadway profile;

and determining the movement direction information of the cantilever of the heading machine at each inflection point according to the first angle difference and the second angle difference.

Optionally, the determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the boom of the heading machine at each inflection point includes:

determining a serial number corresponding to each inflection point in the reference track according to the starting point of the reference track and the movement direction information of the cantilever of the heading machine at each inflection point;

determining the distance between every two adjacent inflection points in the reference track according to the sequence number corresponding to each inflection point and the position information of each inflection point;

and determining the path length of the reference track according to the distance between every two adjacent inflection points in the reference track.

An embodiment of a second aspect of the present disclosure provides a device for determining a cutting track of a boom-type roadheader, including:

the acquisition module is used for acquiring a plurality of reference tracks;

the first determining module is used for determining the position information of each inflection point in each reference track and the movement direction information of the cantilever of the heading machine at each inflection point;

the second determining module is used for determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the cantilever of the heading machine at each inflection point;

and the third determining module is used for determining the target cutting track contained in the plurality of reference tracks according to the path length of each reference track.

Optionally, the apparatus further includes:

and the cutting module is used for cutting the roadway according to the position information of each inflection point in the target cutting track and the movement direction information of the cantilever of the heading machine at each inflection point.

Optionally, the third determining module is further specifically configured to:

Optionally, the first determining module is specifically configured to:

Optionally, the second determining module is specifically configured to:

An embodiment of a third aspect of the present disclosure provides an electronic device, including: the device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the method for determining the cutting track of the cantilever excavator provided by the embodiment of the first aspect of the disclosure is realized.

An embodiment of a fourth aspect of the present disclosure provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for determining a cutting trajectory of a boom-type roadheader as set forth in the embodiment of the first aspect of the present disclosure is implemented.

An embodiment of a fifth aspect of the present disclosure provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the method for determining the cutting track of the boom-type roadheader as set forth in the embodiment of the first aspect of the present disclosure is implemented.

The method and the device for determining the cutting track of the boom-type roadheader and the electronic equipment have the following beneficial effects:

in the embodiment of the disclosure, a plurality of reference tracks are obtained firstly, then the position information of each inflection point in each reference track and the movement direction information of a heading machine cantilever at each inflection point are determined, then the path length of each reference track is determined according to the position information of each inflection point and the movement direction information of the heading machine cantilever at each inflection point, and finally the target cutting track contained in the plurality of reference tracks is determined according to the path length of each reference track. Therefore, the reference track with the shortest path is selected from the multiple reference tracks according to the path length and is used as a target cutting track to automatically cut the roadway, so that the forming quality of the cutting section of the roadway is guaranteed, and the tunneling efficiency is improved.

Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

Drawings

The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic flow chart illustrating a method for determining a cutting trajectory of a boom excavator according to an embodiment of the present disclosure;

fig. 2 is a schematic diagram of a reference trajectory according to an embodiment of the disclosure;

fig. 3 is a schematic flow chart of a method for determining a cutting trajectory of a boom excavator according to another embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a device for determining a cutting track of a boom excavator according to an embodiment of the present disclosure;

FIG. 5 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present disclosure.

Detailed Description

Reference will now be made in detail to the embodiments of the present disclosure, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and intended to be illustrative of the present disclosure, and should not be construed as limiting the present disclosure.

The following describes a method, a device and electronic equipment for determining a cutting track of a boom-type roadheader according to an embodiment of the present disclosure with reference to the accompanying drawings.

Fig. 1 is a schematic flow chart of a method for determining a cutting track of a boom excavator according to an embodiment of the present disclosure.

The embodiment of the present disclosure is exemplified by the determination method of the cutting track of the boom excavator being configured in the determination device of the cutting track of the boom excavator, and the determination device of the cutting track of the boom excavator can be applied to any electronic device, so that the electronic device can perform the determination function of the cutting track of the boom excavator.

The electronic device may be a Personal Computer (PC), a cloud device, a mobile device, and the like, and the mobile device may be a hardware device having various operating systems, touch screens, and/or display screens, such as a mobile phone, a tablet Computer, a Personal digital assistant, a wearable device, and an in-vehicle device.

As shown in fig. 1, the method for determining the cutting track of the boom-type roadheader may include the following steps:

step 101, obtaining a plurality of reference tracks.

The multiple reference tracks may be multiple tracks for cutting the roadway, which are randomly planned at any starting point and in any direction for the same roadway profile.

In the process of planning the reference track, an inclination angle sensor can be used for measuring the change of an included angle between a cantilever of the heading machine and a reference point in the vertical direction, and the measured value of the included angle in the vertical direction corresponding to each track point in the reference track is recorded; measuring the change of an included angle between a cantilever of the heading machine and a reference point in the horizontal direction by using an angle sensor, and recording the measured value of the included angle in the horizontal direction corresponding to each track point in a reference track; and measuring the working position of the heading machine in the roadway by using the distance measuring sensor, wherein the position of the heading machine in the roadway can be the distance between the heading machine and the left side and the right side of the roadway, and recording the indication of the distance measuring sensor.

The reference point can be any point in the roadway, and the readings of the inclination angle sensor and the angle sensor are both 0 at the reference point. For example, the reference point may be a geometric center point of the roadway profile, or may also be an initial position of the boom of the heading machine, which is not limited by the present disclosure.

It can be understood that a plurality of reference tracks can be obtained by recording data of each sensor, and then the plurality of reference tracks can be screened to obtain a target cutting track.

And 102, determining the position information of each inflection point in each reference track and the movement direction information of the cantilever of the heading machine at each inflection point.

The inflection point in the reference track can be a position where the movement direction of the cantilever of the heading machine changes.

Alternatively, the inflection point in the reference trajectory may be determined according to the change of the indication of the tilt sensor and the change of the indication of the angle sensor.

For example, the cantilever of the heading machine always moves along the direction with the horizontal included angle of 30 degrees, after the cantilever moves for a certain distance, the included angle in the horizontal direction measured by the angle sensor changes, and the position of the inflection point can be determined according to the readings of the inclination angle sensor and the readings of the angle sensor at the moment when the included angle in the horizontal direction changes.

Fig. 2 is a schematic diagram of a reference trajectory according to an embodiment of the disclosure. As shown in fig. 2, the reference trajectory may include an inflection point 1, an inflection point 2, an inflection point 3, an inflection point 4, an inflection point 5, an inflection point 6, an inflection point 7, an inflection point 8, an inflection point 9, and the like, where the inflection point 1 is a starting point of the reference trajectory, the inflection point 1 and the inflection point 2 move in a uniform direction, and at the inflection point 2, a moving direction changes.

The position information of each inflection point can be the distance between the inflection point and the periphery of the roadway profile, for example, the distance between the inflection point and the left side, the right side, the top plate and the bottom plate of the roadway profile.

The movement direction information of the cantilever of the heading machine at each inflection point can be the movement direction of the cantilever of the heading machine at the inflection point at the next moment.

Optionally, the motion direction information may include: the cantilever of the heading machine is positioned at an inflection point, and the readings of the inclination angle sensor and the readings of the angle sensor are displayed; and at the next track point adjacent to the inflection point, the readings of the inclination angle sensor and the readings of the angle sensor. Or the movement direction information can also comprise the movement direction of the cantilever of the heading machine at the inflection point, the movement direction of the next track point, the included angle between the horizontal directions and the included angle between the vertical directions. The present disclosure is not limited thereto.

And 103, determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the cantilever of the heading machine at each inflection point.

Optionally, the method may include determining a sequence number corresponding to each inflection point in the reference trajectory according to a starting point of the reference trajectory and the movement direction information of the boom of the heading machine at each inflection point, then determining a distance between every two adjacent inflection points in the reference trajectory according to the sequence number corresponding to each inflection point and the position information of each inflection point, and finally determining the path length of the reference trajectory according to the distance between every two adjacent inflection points in the reference trajectory.

For example, as shown in fig. 2, an inflection point 1 is a starting point of a reference trajectory, and an inflection point 2 can be determined according to movement direction information of a cantilever of a heading machine at the inflection point 1, so that each inflection point in the reference trajectory is sequentially labeled, then, a distance between the inflection point 1 and the inflection point 2 is determined according to position information of the inflection point 1 and the inflection point 2, further, a distance between every two adjacent inflection points is sequentially obtained, and finally, a sum of the distances between every two adjacent inflection points is used as a path length of the reference trajectory.

And step 104, determining target cutting tracks contained in the multiple reference tracks according to the path length of each reference track.

Optionally, after the path length of each reference track is determined, the path lengths of the multiple reference tracks may be sequentially arranged from large to small, the reference track with the shortest path length is selected as the target cutting track, and then the roadway is automatically cut based on the target cutting track, so that the efficiency of roadway cutting is improved.

It can be understood that, in the embodiment of the present disclosure, multiple corresponding reference tracks may be obtained for roadway profiles of different shapes, and then an optimal target cutting track is determined from the multiple reference tracks. Therefore, the method can be simultaneously suitable for determining the target cutting track corresponding to the profile of the roadway with regular shapes such as rectangle, arch and trapezoid and irregular shapes such as inverted trapezoid, and the forming quality of the cutting section of the roadway is improved.

Fig. 3 is a schematic flow chart of a method for determining a cutting track of a boom-type excavator according to an embodiment of the present disclosure, and as shown in fig. 3, the method for determining a cutting track of a boom-type excavator may include the following steps:

step 301, a plurality of reference tracks are obtained.

The specific implementation form of step 301 may refer to detailed descriptions in other embodiments of the present disclosure, and details are not repeated here.

Step 302, obtaining a distance between each inflection point and each face of the roadway profile, a first angle difference between included angles of a cantilever of the heading machine and a first direction at two track points adjacent to each inflection point, and a second angle difference between included angles of the cantilever of the heading machine and a second direction at the two track points.

Optionally, the distance between each inflection point and each face of the profile of the roadway can be determined according to an included angle between each inflection point and the cantilever of the heading machine and the reference point in the horizontal direction, an included angle between each inflection point and the reference point in the vertical direction, the position of the reference point in the roadway, the size of the profile of the roadway and the like.

The first direction may be a vertical direction, and the second direction may be a horizontal direction, which is not limited in this disclosure.

For example, two adjacent track points of the inflection point 2 in the reference track are 2a and 2b, the included angle measured value in the vertical direction recorded by the tilt sensor at the track point 2a is 15 degrees, and the included angle measured value in the horizontal direction recorded by the angle sensor is 10 degrees; the included angle measured value in the vertical direction recorded by the tilt angle sensor at the track point 2b is 12 degrees, and the included angle measured value in the horizontal direction recorded by the angle sensor is 13 degrees; the corresponding first angular difference is 112 deg. -5 deg. -3 deg., and the corresponding second angular difference is 13 deg. -10 deg. -3 deg..

It should be noted that the above examples are only simple examples, and should not be taken as specific limitations of the first angle difference and the second angle difference in the embodiments of the present disclosure.

And step 303, determining position information of the inflection points according to the distance between each inflection point and each surface of the roadway profile.

The position information of the inflection point comprises the distance between the inflection point and each surface of the roadway profile.

And step 304, determining the movement direction information of the cantilever of the heading machine at each inflection point according to the first angle difference and the second angle difference.

Optionally, the movement direction information of the inflection points may also be a first angle difference between included angles of the heading machine cantilever at two trajectory points adjacent to each inflection point and the first direction, and a second angle difference between included angles of the two trajectory points and the second direction.

For example, if the first angle difference corresponding to the inflection point 3 is-3 ° and the second angle difference corresponding to the inflection point 3 is 3 °, the motion direction information corresponding to the inflection point 3 may be moved in a direction of increasing by 3 ° in the vertical direction and decreasing by 3 ° in the horizontal direction.

It should be noted that the above example is only a simple example, and cannot be taken as a specific limitation of the movement direction information of the inflection point in the embodiment of the present disclosure.

And 305, determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the cantilever of the heading machine at each inflection point.

The specific implementation form of step 305 may refer to detailed descriptions in other embodiments of the present disclosure, and details are not repeated here.

Step 306, in response to that the multiple reference trajectories include multiple target reference trajectories with the same path length and the shortest path length, determining the number of inflection points included in each target reference trajectory.

It can be understood that, when a plurality of reference trajectories include a shortest target reference trajectory having the same path length, an optimal trajectory may be further selected from the plurality of target reference trajectories as the target cutting trajectory according to the number of inflection points included in the target reference trajectory.

Step 307, determining the target reference track with the minimum number of inflection points as a target cutting track.

For example, if 5 reference trajectories, such as the reference trajectory 1, the reference trajectory 2, the reference trajectory 3, the reference trajectory 4, and the reference trajectory 5, are shared, if the path lengths of the reference trajectory 1 and the reference trajectory 3 are the same, the number of inflection points included in the reference trajectory 1 and the number of inflection points included in the reference trajectory 3 may be further determined, and if the reference trajectory 1 includes 8 inflection points and the reference trajectory 3 includes 9 inflection points, the reference trajectory 1 is selected as the target cutting trajectory.

It should be noted that the above examples are only simple examples, and should not be taken as specific limitations of the reference trajectory and the target cutting trajectory in the embodiments of the present disclosure.

It can be understood that, under the condition that the multiple reference tracks comprise multiple shortest target reference tracks with the same path length, the track with the least number of inflection points is selected as the target cutting track, so that the times of changing the movement direction of the cantilever of the heading machine can be reduced, and the heading efficiency of the roadway is further improved.

And 308, cutting the roadway according to the position information of each inflection point in the target cutting track and the movement direction information of the cantilever of the heading machine at each inflection point.

Optionally, the excavator cantilever can be controlled by the electromagnetic valve, and the roadway is cut according to the target cutting track.

It can be understood that after the target cutting track is determined, the working position of the heading machine in the roadway can be determined firstly when the target cutting track is obtained, and then the heading machine is controlled to be at the working position, and the roadway is cut according to the position information of each inflection point and the movement direction information of the cantilever of the heading machine at each inflection point, so that the forming quality of the roadway is ensured.

The method comprises the steps of firstly obtaining a plurality of reference tracks, determining position information of each inflection point in each reference track and movement direction information of a heading machine cantilever at each inflection point, then determining the path length of each reference track according to the position information of each inflection point and the movement direction information of the heading machine cantilever at each inflection point, finally responding to a plurality of target reference tracks which comprise the shortest target reference tracks and have the same path length, determining the number of the inflection points contained in each target reference track, determining the target reference track with the minimum number of the inflection points as a target cutting track, and finally cutting a roadway according to the position information of each inflection point in the target cutting track and the movement direction information of the heading machine cantilever at each inflection point. Therefore, the optimal target cutting track is determined from the plurality of reference tracks according to the path length of the reference tracks and the number of inflection points contained in the reference tracks, so that the forming quality of the cutting section of the roadway is ensured, and the tunneling efficiency is further improved.

In order to realize the embodiment, the disclosure further provides a device for determining the cutting track of the boom-type heading machine.

Fig. 4 is a schematic structural diagram of a device for determining a cutting track of a boom excavator according to an embodiment of the present disclosure.

As shown in fig. 4, the apparatus 400 for determining the cutting path of the boom excavator may include: an obtaining module 410, a second obtaining module 420, a first determining module 430, a second determining module 440, and a third determining module 450.

An obtaining module 410, configured to obtain a plurality of reference tracks;

the first determining module 420 is configured to determine position information of each inflection point in each reference trajectory and motion direction information of the heading machine cantilever at each inflection point;

the second determining module 430 is configured to determine the path length of each reference track according to the position information of each inflection point and the movement direction information of the heading machine cantilever at each inflection point;

and a third determining module 440, configured to determine, according to the path length of each reference track, a target cutting track included in the multiple reference tracks.

Optionally, the apparatus further comprises:

Optionally, the third determining module 440 is further specifically configured to:

responding to a plurality of target reference trajectories with the same path length and the shortest path length, and determining the number of inflection points contained in each target reference trajectory;

Optionally, the first determining module 420 is specifically configured to:

acquiring the distance between each inflection point and each surface of the roadway profile, a first angle difference between included angles of a cantilever of the heading machine and a first direction at two track points adjacent to each inflection point, and a second angle difference between included angles of the cantilever of the heading machine and a second direction at the two track points;

determining the position information of the inflection points according to the distance between each inflection point and each surface of the roadway profile;

Optionally, the second determining module 430 is specifically configured to:

determining the distance between every two adjacent inflection points in the reference track according to the serial number corresponding to each inflection point and the position information of each inflection point;

The functions and specific implementation principles of the modules in the embodiments of the present disclosure may refer to the embodiments of the methods, and are not described herein again.

The device for determining the cutting track of the cantilever type tunneling machine in the embodiment of the disclosure firstly obtains a plurality of reference tracks, then determines the position information of each inflection point in each reference track and the movement direction information of the cantilever of the tunneling machine at each inflection point, then determines the path length of each reference track according to the position information of each inflection point and the movement direction information of the cantilever of the tunneling machine at each inflection point, and finally determines the target cutting track contained in the plurality of reference tracks according to the path length of each reference track. Therefore, the reference track with the shortest path is selected from the multiple reference tracks according to the path length and is used as a target cutting track to automatically cut the roadway, so that the forming quality of the cutting section of the roadway is guaranteed, and the tunneling efficiency is improved.

In order to implement the above embodiments, the present disclosure also provides an electronic device, including: the device comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, and when the processor executes the program, the method for determining the cutting track of the boom-type roadheader provided by the embodiment of the disclosure is realized.

In order to implement the foregoing embodiments, the present disclosure further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the method for determining the cutting track of the boom excavator according to the foregoing embodiments of the present disclosure is implemented.

In order to implement the above embodiments, the present disclosure also provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the computer program implements the method for determining the cutting track of the boom-type roadheader as proposed in the foregoing embodiments of the present disclosure.

FIG. 5 illustrates a block diagram of an exemplary electronic device suitable for use in implementing embodiments of the present disclosure. The electronic device 12 shown in fig. 5 is only an example and should not bring any limitations to the functionality and scope of use of the embodiments of the present disclosure.

As shown in FIG. 5, electronic device 12 is embodied in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.

Bus 18 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. These architectures include, but are not limited to, Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, enhanced ISA bus, Video Electronics Standards Association (VESA) local bus, and Peripheral Component Interconnect (PCI) bus, to name a few.

Computer device 12 typically includes a variety of computer system readable media. Such media may be any available media that is accessible by computer device 12 and includes both volatile and nonvolatile media, removable and non-removable media.

Memory 28 may include computer system readable media in the form of volatile Memory, such as Random Access Memory (RAM) 30 and/or cache Memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a Compact disk Read Only Memory (CD-ROM), a Digital versatile disk Read Only Memory (DVD-ROM), or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the disclosure.

A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally perform the functions and/or methodologies of the embodiments described in this disclosure.

Computer device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), with one or more devices that enable a user to interact with computer device 12, and/or with any devices (e.g., network card, modem, etc.) that enable computer device 12 to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 22. Moreover, computer device 12 may also communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public Network such as the Internet) via Network adapter 20. As shown, network adapter 20 communicates with the other modules of computer device 12 via bus 18. It should be understood that although not shown in the figures, other hardware and/or software modules may be used in conjunction with computer device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.

The processing unit 16 executes various functional applications and data processing, for example, implementing the methods mentioned in the foregoing embodiments, by executing programs stored in the system memory 28.

According to the technical scheme, a plurality of reference tracks are obtained firstly, then the position information of each inflection point in each reference track and the movement direction information of a heading machine cantilever at each inflection point are determined, the path length of each reference track is determined according to the position information of each inflection point and the movement direction information of the heading machine cantilever at each inflection point, and finally the target cutting track contained in the plurality of reference tracks is determined according to the path length of each reference track. Therefore, the reference track with the shortest path is selected from the multiple reference tracks according to the path length and is used as a target cutting track to automatically cut the roadway, so that the forming quality of the cutting section of the roadway is guaranteed, and the tunneling efficiency is improved.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present disclosure, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specifically limited otherwise.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present disclosure in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present disclosure.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present disclosure may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present disclosure may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present disclosure have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present disclosure, and that changes, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present disclosure.

Claims

1. A method for determining a cutting track of a boom-type roadheader comprises the following steps:

acquiring a plurality of reference tracks;

2. The method of claim 1, further comprising, after said determining a target cutting trajectory:

3. The method according to claim 1, wherein after said determining target-cutting trajectories included in said plurality of reference trajectories according to the path length of each of said reference trajectories, further comprising:

4. The method of claim 1, wherein the determining the position information of each inflection point in each reference trajectory and the movement direction information of the heading machine cantilever at each inflection point comprises:

5. The method according to any one of claims 1 to 4, wherein the determining the path length of each reference trajectory according to the position information of each inflection point and the movement direction information of the heading machine cantilever at each inflection point comprises:

6. A boom miner cutting trajectory determination apparatus comprising:

the acquisition module is used for acquiring a plurality of reference tracks;

7. The apparatus of claim 6, further comprising:

8. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program performing the method of determining a cutting trajectory of a boom miner of any one of claims 1-5.

9. A computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor, implements the method of determining a cutting trajectory of a boom miner of any one of claims 1-5.

10. A computer program product, comprising a computer program which, when executed by a processor, implements the method of determining a boom miner cutting trajectory of any one of claims 1-5.