CN112412535B - Dynamic calibration method, device and system for spatial position of mine fully-mechanized coal mining face device - Google Patents
Dynamic calibration method, device and system for spatial position of mine fully-mechanized coal mining face device Download PDFInfo
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- CN112412535B CN112412535B CN202011263620.6A CN202011263620A CN112412535B CN 112412535 B CN112412535 B CN 112412535B CN 202011263620 A CN202011263620 A CN 202011263620A CN 112412535 B CN112412535 B CN 112412535B
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21F—SAFETY DEVICES, TRANSPORT, FILLING-UP, RESCUE, VENTILATION, OR DRAINING IN OR OF MINES OR TUNNELS
- E21F17/00—Methods or devices for use in mines or tunnels, not covered elsewhere
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Abstract
The invention provides a method, a device and a system for dynamically calibrating the spatial position of a mine fully-mechanized coal mining face device, and relates to the technical field of intelligent mining. The method comprises the following steps: preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support according to the number of the hydraulic support inspection device of the fully mechanized mining face of the mine and the spacing between the hydraulic support frames; then obtaining a three-dimensional geodetic coordinate and a local corresponding line segment which are vertically corresponding to each hydraulic support on the cable groove along the trend of the working surface; finally, obtaining the accurate three-dimensional geodetic coordinates and the local corresponding line segments corresponding to each hydraulic support on the cable groove along the trend of the working surface; and forming a spatial position relation of the hydraulic support and the scraper conveyor, and visually displaying in a GIS (geographic information System) graph. The invention dynamically realizes the real-time calibration of the space positions of the hydraulic support and the cable groove of the fully mechanized mining face of the mine and forms a visual GIS graph to replace the manual work for the inspection of the push-slide pulling frame of the working face.
Description
Technical Field
The invention relates to the technical field of intelligent mining, in particular to a method, a device and a system for dynamically calibrating the spatial position of a mine fully-mechanized coal mining face device.
Background
At present, after the fully mechanized mining face is integrally pushed to pass through the process of pushing, sliding and pulling the frame, the situation that the chute is not bent can occur, and the situation that the pulling frame is not in place can also occur to the hydraulic support. The abnormal conditions need to be manually handled by fully-mechanized coal mining face workers in field inspection, so that the professional engineering requirements of the pushing and sliding frame are met, and the purpose that few people or no people exist on the intelligent fully-mechanized coal mining face cannot be achieved.
Along with the improvement of the intelligent level of a mine, the state encourages the realization of less-person and unmanned operation in dangerous working areas of underground fully mechanized coal mining faces. Therefore, it is necessary to dynamically realize real-time calibration of the actual spatial positions of the hydraulic supports, the scraper conveyors and other devices of the fully mechanized mining face of the mine and form a visual GIS graph to replace workers to perform routing inspection work with the effect of pushing, sliding and pulling the working face.
Disclosure of Invention
In view of the above problems, the invention provides a dynamic calibration method, device and system for spatial positions of a mine fully-mechanized coal mining face device, which dynamically realize real-time calibration of the spatial actual positions of the hydraulic support, a scraper conveyor and other devices and form a visual GIS (geographic information system) graph, so as to replace workers to perform routing inspection work with the effect of a push-slide pull frame of a working face, and lay a foundation for realizing a complete automatic push-slide pull frame.
The embodiment of the invention provides a dynamic calibration method for spatial position of a mine fully-mechanized coal mining face device, which is characterized by comprising the following steps:
preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device of the fully mechanized mining face of the mine and the spacing between the hydraulic support frames;
according to the frame numbers and the hydraulic support frame intervals which vertically correspond to the starting and ending positions of the mine fully mechanized mining working face cable groove inspection device along the working face direction, preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support on the cable groove along the working face direction;
on the basis of the three-dimensional geodetic coordinates of each hydraulic support and the moving azimuth angle of the fully mechanized mining face of the mine calculated by the hydraulic support inspection device, the three-dimensional geodetic coordinates of each hydraulic support are in one-to-one correspondence on the three-dimensional geodetic coordinate sequence of the cable groove through the frame number of each hydraulic support and are analyzed and processed, so that the accurate three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support corresponding to the cable groove along the moving direction of the working face are obtained;
based on the three-dimensional geodetic coordinate of every hydraulic support that hydraulic support inspection device calculated and the three-dimensional geodetic coordinate of every hydraulic support that cable groove inspection device calculated move towards along the working face and be in corresponding three-dimensional geodetic coordinate on the cable groove establishes the local corresponding line segment of hydraulic support with the local corresponding relation based on the support number between the line segment of cable groove to form the spatial position relation of hydraulic support, scraper conveyor to visual show in the GIS figure.
Optionally, a point location sensor is installed at a preset hydraulic support position of the hydraulic support inspection device, and the method further includes:
in the calculation process of the hydraulic support inspection device, the point position sensor at the position of the preset hydraulic support is utilized, the three-dimensional geodetic coordinate sequence of the hydraulic support, the frame interval and the coordinate jitter of the hydraulic support are combined for analysis and processing, so that the mechanical gap error between the hydraulic supports is eliminated, the precision of the three-dimensional geodetic coordinate of each hydraulic support is improved, and the precision of the three-dimensional geodetic coordinate corresponding to each hydraulic support calculated by the cable groove inspection device along the direction of a working surface is indirectly improved.
Optionally, according to the mine combine and adopt hydraulic support frame number and the hydraulic support frame interval of working face hydraulic support inspection device's start-up and final position, tentatively obtain the three-dimensional geodetic coordinate and the local line segment that corresponds of every hydraulic support, include:
measuring to obtain a three-dimensional geodetic coordinate sequence of the hydraulic support;
according to the hydraulic support frame numbers of the starting and ending positions of the hydraulic support inspection device of the fully mechanized mining face of the mine and the spacing between the hydraulic support frames, dividing the three-dimensional geodetic coordinate sequence of the measured hydraulic support into halves according to the spacing between the frames, and preliminarily obtaining the three-dimensional geodetic coordinate and the local corresponding line segment of each hydraulic support.
Optionally, according to the start and end positions of the mine fully mechanized mining working face cable trough inspection device along the working face trend vertically corresponding frame numbers and hydraulic support frame intervals, dividing the three-dimensional geodetic coordinate sequence of the measured cable trough equally according to the frame intervals, and preliminarily obtaining that each hydraulic support is in the three-dimensional geodetic coordinate and the local corresponding line segment vertically corresponding to the cable trough along the working face trend, the mine fully mechanized mining working face cable trough inspection device comprises:
measuring to obtain a three-dimensional geodetic coordinate sequence of the cable groove of the mine fully mechanized coal mining face;
according to the starting and ending positions of the cable trough inspection device, the number of the frames and the distance between the hydraulic support frames which vertically correspond along the trend of the working face are used, the three-dimensional geodetic coordinate sequence of the cable trough obtained through measurement is divided equally according to the distance between the frames, and the three-dimensional geodetic coordinate and the local corresponding line segment which vertically correspond along the trend of the working face on the cable trough are obtained preliminarily by each hydraulic support.
Optionally, the three-dimensional geodetic coordinate sequence of the hydraulic support is obtained by tracking and measuring a first 360-degree prism by a measuring robot of the mine fully-mechanized mining face, wherein the first 360-degree prism is a device for inspecting all hydraulic supports back and forth along the mine fully-mechanized mining face in the mine fully-mechanized mining face;
the three-dimensional geodetic coordinate sequence of the cable groove of the mine fully mechanized mining face is obtained by tracking and measuring a second 360-degree prism by the measuring robot, wherein the second 360-degree prism is equipment for round-trip inspection along the cable groove in the mine fully mechanized mining face;
wherein the number of the measuring robots is at least one.
Optionally, the number of the point position sensors is greater than or equal to 0, and the point position sensors are utilized to perform analysis processing by combining a three-dimensional geodetic coordinate sequence of the hydraulic support, the distance between the hydraulic support frames and the coordinate jitter of the hydraulic support frames so as to eliminate the mechanical gap error between the hydraulic support frames, including:
if the number of the point position sensors is 0, analyzing and processing are directly carried out on the basis of the three-dimensional geodetic coordinate sequence of the hydraulic support at the starting position and the hydraulic support at the ending position, the frame spacing and the coordinate jitter of the hydraulic supports without referring to the data of the point position sensors so as to eliminate the mechanical gap error between the hydraulic supports;
if the number of the point position sensors is more than 0 and is N, referring to data of the point position sensors, wherein the point position sensors on the N hydraulic supports are respectively a first point position sensor and a second point position sensor … N point position sensor, and under the condition, the method specifically comprises the following steps:
step S1: analyzing and processing the three-dimensional geodetic coordinates of the hydraulic support at the starting position by combining the three-dimensional geodetic coordinates of the first hydraulic support at the starting position, the frame spacing between the first hydraulic support and the hydraulic support at the starting position and respective coordinate jitters of the first hydraulic support and the hydraulic support at the starting position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the hydraulic support at the starting position and the first hydraulic support so as to eliminate a mechanical gap error between each hydraulic support between the first hydraulic support and the hydraulic support at the starting position;
step S2: analyzing and processing the three-dimensional geodetic coordinates of the first hydraulic support by using the three-dimensional geodetic coordinates of the second hydraulic support where the second point position sensor is located, the frame spacing between the second hydraulic support and the first hydraulic support and respective coordinate jitters of the second hydraulic support and the first hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the second hydraulic support and the first hydraulic support so as to eliminate mechanical gap errors between each hydraulic support between the second hydraulic support and the first hydraulic support;
step S3: repeating the steps S1-S2 to obtain the following steps in sequence: the three-dimensional geodetic coordinates … of each hydraulic support between the third hydraulic support where the third point location sensor is located and the second hydraulic support until the three-dimensional geodetic coordinates of each hydraulic support between the N-1 hydraulic support where the N-1 point location sensor is located and the N hydraulic support where the N-point location sensor is located;
step S4: and analyzing and processing the three-dimensional geodetic coordinates of the Nth hydraulic support by combining the three-dimensional geodetic coordinates of the hydraulic support at the end position, the frame spacing between the Nth hydraulic support and the hydraulic support at the end position and the respective coordinate jitter of the Nth hydraulic support and the hydraulic support at the end position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position so as to eliminate the mechanical clearance error between each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position.
The embodiment of the invention also provides a dynamic calibration device for the spatial position of the mine fully-mechanized coal mining face device, which comprises:
the hydraulic support coordinate module is used for preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device on the fully mechanized mining face of the mine and the spacing between the hydraulic support frames;
the cable trough coordinate module is used for preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support on the cable trough, which vertically correspond to the cable trough inspection device on the fully mechanized mining face along the direction of the working face, according to the frame numbers and the hydraulic support frame intervals, which vertically correspond to the starting and ending positions of the cable trough inspection device on the fully mechanized mining face along the direction of the working face;
the system comprises a cable trough and a local line segment corresponding processing module which is associated with hydraulic supports, wherein the local line segment corresponding processing module is used for corresponding and analyzing the three-dimensional geodetic coordinate local line segment of each hydraulic support and the trend azimuth angle of the mine fully mechanized mining working face calculated by the hydraulic support inspection device on the basis of the three-dimensional geodetic coordinate local line segment of each hydraulic support through the frame number of each hydraulic support in the three-dimensional geodetic coordinate sequence of the cable trough so as to obtain the corresponding accurate three-dimensional geodetic coordinate sequence local line segment of each hydraulic support on the cable trough along the trend of the working face and establish the corresponding relation;
and the GIS display module is used for establishing a corresponding relation between a local corresponding line segment of the hydraulic support and a local corresponding line segment of the cable groove based on a support number so as to form a spatial position relation of the hydraulic support and the scraper conveyer and visually display the space position relation in a GIS graph.
Optionally, install the position sensor on the hydraulic support of default quantity, the device still includes:
and the error elimination module is used for utilizing the point position sensor to combine a three-dimensional geodetic coordinate sequence of the hydraulic support with the coordinate jitter of the frame interval and the hydraulic support in the calculation process of the hydraulic support inspection device, analyzing and processing are carried out to eliminate the mechanical gap error between the hydraulic supports, improve the precision of the three-dimensional geodetic coordinate of each hydraulic support, and indirectly improve the precision of the three-dimensional geodetic coordinate, corresponding to the cable groove, of each hydraulic support, which is calculated by the cable groove inspection device, along the trend of the working surface.
Optionally, the hydraulic support coordinate module includes:
the hydraulic support measuring unit is used for measuring to obtain a three-dimensional geodetic coordinate sequence of the hydraulic support;
and the hydraulic support coordinate unit is used for dividing the three-dimensional geodetic coordinate sequence of the hydraulic support obtained by measurement into halves according to the frame spacing of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device of the fully mechanized mining face of the mine and the frame spacing of the hydraulic supports, and preliminarily obtaining the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support.
Optionally, the cable tray coordinate module includes:
the cable groove measuring unit is used for measuring and obtaining a three-dimensional geodetic coordinate sequence of the cable groove of the mine fully mechanized coal mining face;
and the cable trough coordinate unit is used for dividing the three-dimensional geodetic coordinate sequence of the cable trough obtained by measurement into equal parts according to the vertical corresponding frame number and the hydraulic support frame interval along the trend of the working surface according to the starting position and the ending position of the cable trough inspection device, and preliminarily obtaining the three-dimensional geodetic coordinate and the local corresponding line segment of each hydraulic support on the cable trough along the trend of the working surface.
Optionally, the number of the point position sensors is greater than or equal to 0, and the error elimination module is specifically configured to:
if the number of the point position sensors is 0, analyzing and processing are directly carried out on the basis of the three-dimensional geodetic coordinate sequence of the hydraulic support at the starting position and the hydraulic support at the ending position, the frame spacing and the coordinate jitter of the hydraulic supports without referring to the data of the point position sensors so as to eliminate the mechanical gap error between the hydraulic supports;
if the number of the point position sensors is more than 0 and is N, referring to data of the point position sensors, wherein the point position sensors on the N hydraulic supports are respectively a first point position sensor and a second point position sensor … N point position sensor, and under the condition, the method specifically comprises the following steps:
step S1: analyzing and processing the three-dimensional geodetic coordinates of the hydraulic support at the starting position by combining the three-dimensional geodetic coordinates of the first hydraulic support at the starting position, the frame spacing between the first hydraulic support and the hydraulic support at the starting position and respective coordinate jitters of the first hydraulic support and the hydraulic support at the starting position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the hydraulic support at the starting position and the first hydraulic support so as to eliminate a mechanical gap error between each hydraulic support between the first hydraulic support and the hydraulic support at the starting position;
step S2: analyzing and processing the three-dimensional geodetic coordinates of the first hydraulic support by using the three-dimensional geodetic coordinates of the second hydraulic support where the second point position sensor is located, the frame spacing between the second hydraulic support and the first hydraulic support and respective coordinate jitters of the second hydraulic support and the first hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the second hydraulic support and the first hydraulic support so as to eliminate mechanical gap errors between each hydraulic support between the second hydraulic support and the first hydraulic support;
step S3: repeating the steps S1-S2 to obtain the following steps in sequence: the three-dimensional geodetic coordinates … of each hydraulic support between the third hydraulic support where the third point location sensor is located and the second hydraulic support until the three-dimensional geodetic coordinates of each hydraulic support between the N-1 hydraulic support where the N-1 point location sensor is located and the N hydraulic support where the N-point location sensor is located;
step S4: and analyzing and processing the three-dimensional geodetic coordinates of the Nth hydraulic support by combining the three-dimensional geodetic coordinates of the hydraulic support at the end position, the frame spacing between the Nth hydraulic support and the hydraulic support at the end position and the respective coordinate jitter of the Nth hydraulic support and the hydraulic support at the end position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position so as to eliminate the mechanical clearance error between each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position.
The embodiment of the invention also provides a dynamic calibration system for the spatial position of the fully mechanized coal mining face device of the mine, which comprises: an industrial personal computer;
the industrial personal computer is used for executing any one of the dynamic calibration methods for the spatial position of the fully mechanized coal mining face device of the mine.
The invention provides a dynamic calibration system and a dynamic calibration method for spatial positions of a mine fully-mechanized coal mining face device, which are based on dynamic tracking measurement of a measuring robot and a 360-degree prism, obtain a coordinate sequence of absolute geodetic coordinates of a cable groove and a working face hydraulic support, ensure the uniformity of the spatial relationship of the whole mine, and simultaneously organically combine the spatial position relationship of the cable groove and the working face hydraulic support, thereby avoiding the frame number inconsistency and the spatial position framing situation between the cable groove and the working face hydraulic support.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a flow chart of a method for dynamically calibrating a spatial position of a mine fully-mechanized coal mining face device according to an embodiment of the invention;
fig. 2 is a block diagram of a dynamic spatial position calibration device for a fully mechanized mining face device of a mine according to an embodiment of the invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below. It should be understood that the specific embodiments described herein are merely illustrative of the invention, but do not limit the invention to only some, but not all embodiments.
The inventor finds that in the process of fully mechanized mining of a mine, in order to avoid the situations that a chute is not bent directly, a hydraulic support is not in place in a pulling frame and the like, the actual spatial positions of the hydraulic support, a scraper conveyor and the like on the fully mechanized mining face of the mine need to be calibrated in real time, and the real-time calibration is completed basically by manual operation of workers, which obviously does not meet the requirements of dangerous working areas.
In order to overcome the problems, the inventor creatively provides the dynamic calibration system and the dynamic calibration method for the spatial position of the mine fully-mechanized coal mining face device through a large amount of research and practical tests, and the technical scheme of the invention is described in detail below.
Referring to fig. 1, a flowchart of a method for dynamically calibrating a spatial position of a mine fully mechanized coal mining face device according to an embodiment of the present invention is shown, where the method includes:
step 101: and preliminarily obtaining the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device of the fully mechanized mining face of the mine and the spacing between the hydraulic support frames.
In the embodiment of the invention, the length of the mine fully-mechanized coal mining face is determined, the length of the cable groove is determined, the number of the hydraulic supports is determined according to the length of the mine fully-mechanized coal mining face, and each hydraulic support has the own frame number and is determined.
In the embodiment of the invention, because the frame numbers of the first hydraulic support and the last hydraulic support in the hydraulic supports are determined, and the frame spacing of the hydraulic supports is also determined, the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support can be preliminarily obtained according to the frame number of the first hydraulic support and the frame number of the last hydraulic support, namely the frame number of the hydraulic support at the starting position and the frame number of the hydraulic support at the ending position, and the frame spacing of the hydraulic supports.
Specifically, a three-dimensional geodetic coordinate sequence of the hydraulic support is obtained through measurement, and then the three-dimensional geodetic coordinate sequence of the hydraulic support obtained through measurement is divided according to the frame numbers of the hydraulic support at the starting position and the ending position of the hydraulic support inspection device of the fully mechanized mining face of the mine and the frame spacing of the hydraulic support, so that the three-dimensional geodetic coordinate and the local corresponding line segment of each hydraulic support can be obtained preliminarily.
For how to measure and obtain the three-dimensional geodetic coordinate sequence of the hydraulic support, a preferable mode is that a measuring robot of the mine fully mechanized mining face tracks and measures a first 360-degree prism, wherein the first 360-degree prism refers to: and in the fully mechanized mining face of the mine, the equipment of all the hydraulic supports is patrolled and examined back and forth along the fully mechanized mining face of the mine.
Step 102: and preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support on the cable groove, which vertically correspond along the direction of the working face, according to the frame numbers and the hydraulic support frame intervals, which vertically correspond along the direction of the working face, of the starting and ending positions of the cable groove inspection device of the fully mechanized mining working face of the mine.
In the embodiment of the invention, after the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support are preliminarily obtained, the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support on the cable slot along the direction of the working face can be preliminarily obtained according to the frame numbers and the spacing of the hydraulic support frames which vertically correspond to the starting and ending positions of the cable slot inspection device of the mine fully mechanized mining working face along the direction of the working face.
Specifically, a three-dimensional geodetic coordinate sequence of a cable trough of a mine fully mechanized mining working surface is obtained through measurement, then the three-dimensional geodetic coordinate sequence of the cable trough obtained through measurement is divided according to the number of frames and the spacing of hydraulic support frames, wherein the number of the frames and the spacing of the hydraulic support frames are vertically corresponding to the starting position and the ending position of the cable trough inspection device along the direction of the working surface, and the three-dimensional geodetic coordinate and the local corresponding line segment of each hydraulic support frame vertically corresponding to the direction of the working surface on the cable trough are preliminarily obtained.
For how to measure and obtain the three-dimensional geodetic coordinate sequence of the cable trough, a preferred mode is that a measuring robot of the mine fully mechanized mining face tracks and measures a second 360-degree prism, wherein the second 360-degree prism refers to: in the fully mechanized mining face of the mine, the equipment patrols and examines back and forth along the cable groove.
In the embodiment of the invention, the measuring robot respectively obtains the three-dimensional geodetic coordinate sequences of the cable groove and the hydraulic support through tracking and measuring the first 360-degree prism and the second 360-degree prism. In practical application, according to the fluctuation situation of the inclination of the fully mechanized mining face, measuring robots are respectively arranged at proper positions of a machine head or a machine tail of the fully mechanized mining face of a mine and the working face and used for cooperating with a searched visual 360-degree prism to track and measure, so that the 360-degree prism is observed by at least one measuring robot at any position. Therefore, the number of the measuring robots is at least one.
Step 103: based on the three-dimensional geodetic coordinates of each hydraulic support and the moving azimuth angle of the fully mechanized mining face of the mine calculated by the hydraulic support inspection device, the three-dimensional geodetic coordinates of each hydraulic support are in one-to-one correspondence on the three-dimensional geodetic coordinate sequence of the cable groove through the frame number of each hydraulic support and are analyzed and processed, so that the accurate three-dimensional geodetic coordinates of each hydraulic support corresponding to the cable groove along the moving direction of the working face are obtained.
In the embodiment of the invention, after the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support on the cable groove along the working face direction in a vertical correspondence manner are preliminarily obtained, the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support on the cable groove are in one-to-one correspondence and are analyzed and processed through the frame numbers of each hydraulic support on the three-dimensional geodetic coordinate sequence of the cable groove based on the three-dimensional geodetic coordinates of each hydraulic support and the direction azimuth angle of the mine fully mechanized working face, so that the accurate three-dimensional geodetic coordinates of each hydraulic support on the cable groove along the working face direction can be obtained. Namely, although the three-dimensional geodetic coordinates of each hydraulic support obtained by combining the spacing of the supports are not very accurate only by using the support numbers of the hydraulic supports at the starting position and the ending position, the three-dimensional geodetic coordinates corresponding to each hydraulic support with the accuracy meeting the requirement can be obtained by combining the direction azimuth of the fully mechanized mining face of the mine and analyzing and processing the direction azimuth.
Step 104: and establishing a corresponding relation between the local corresponding line segment of the hydraulic support and the local corresponding line segment of the cable groove based on the support number so as to form a spatial position relation of the hydraulic support and the scraper conveyer, and visually displaying the spatial position relation in a GIS (geographic information System) graph.
In the embodiment of the invention, after the three-dimensional geodetic coordinates of each hydraulic support and the corresponding three-dimensional geodetic coordinates of each hydraulic support on the cable groove along the working surface trend are obtained, the corresponding relation based on the support number between the local corresponding line segment of the hydraulic support and the local corresponding line segment of the cable groove is established, and after the two are combined, the spatial position relation of the hydraulic support and the scraper conveyer can be formed and can be visually displayed in a GIS (geographic information system) graph for relevant workers to visually see.
In the above steps, if the precision of the three-dimensional geodetic coordinates of each hydraulic support is to be further improved, point position sensors may be installed on a preset number of hydraulic supports, one point position sensor is installed on each hydraulic sensor, the number of the point position sensors may be greater than or equal to 0, in the calculation process of the hydraulic support inspection device, the point position sensors are used, and in combination with the three-dimensional geodetic coordinate sequence of the hydraulic supports, the inter-support distance and the coordinate jitter of the hydraulic supports, analysis processing is performed to eliminate the mechanical gap error between the hydraulic supports and improve the precision of the three-dimensional geodetic coordinates of each hydraulic support, so that the precision of the corresponding three-dimensional geodetic coordinates of each hydraulic support on the cable trough along the working plane direction, which is calculated by the cable trough inspection device, is indirectly improved. The method comprises the following specific steps:
step T1: if the number of the point position sensors is 0, analyzing and processing are carried out by combining the three-dimensional geodetic coordinate sequence of the hydraulic support at the starting position and the three-dimensional geodetic coordinate sequence of the hydraulic support at the ending position, the frame spacing and the coordinate jitter of the hydraulic supports, so as to eliminate the mechanical clearance error between the hydraulic supports.
If the number of the point position sensors is 0, that is, if no point position sensor is installed, the specific method may be as described in step 101, as in the case of step 101.
If the number of the point position sensors is more than 0 and is N, the point position sensors on the N hydraulic supports are respectively a first point position sensor and a second point position sensor … N-th point position sensor, and under the condition, the method comprises the following steps:
step S1: the three-dimensional geodetic coordinates of the hydraulic support at the starting position are utilized, and the three-dimensional geodetic coordinates of the first hydraulic support where the first point position sensor is located, the frame spacing between the first hydraulic support and the hydraulic support at the starting position and the respective coordinate jitter are combined to carry out analysis processing, so that the three-dimensional geodetic coordinates of each hydraulic support between the hydraulic support at the starting position and the first hydraulic support are obtained, and the mechanical clearance error between each hydraulic support between the first hydraulic support and the hydraulic support at the starting position is eliminated.
The first hydraulic support where the first point position sensor is located is the closest hydraulic support to the starting position among all the hydraulic supports where the point position sensor is installed, so that analysis processing can be performed by using the three-dimensional geodetic coordinates of the hydraulic support at the starting position, and combining the three-dimensional geodetic coordinates of the first hydraulic support, the frame spacing between the first hydraulic support and the hydraulic support at the starting position, and respective coordinate jitter thereof, thereby obtaining the three-dimensional geodetic coordinates of each hydraulic support between the hydraulic support at the starting position and the first hydraulic support, so that the mechanical gap error between each hydraulic support between the first hydraulic support and the hydraulic support at the starting position can be eliminated, and the three-dimensional geodetic coordinates of each hydraulic support between the first hydraulic support and the hydraulic support at the starting position with higher accuracy can be obtained. Therefore, the precision of the corresponding three-dimensional geodetic coordinates of each hydraulic support between the first hydraulic support and the hydraulic support at the starting position along the working surface on the cable groove is indirectly improved.
Step S2: analyzing and processing the three-dimensional geodetic coordinates of the first hydraulic support by combining the three-dimensional geodetic coordinates of the second hydraulic support where the second point position sensor is located, the frame spacing between the second hydraulic support and the first hydraulic support and the respective coordinate jitter of the second hydraulic support and the first hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the second hydraulic support and the first hydraulic support so as to eliminate the mechanical gap error between each hydraulic support between the second hydraulic support and the first hydraulic support;
step S3: repeating the steps S1-S2 to obtain the following steps in sequence: the three-dimensional geodetic coordinates … of each hydraulic support between the third hydraulic support and the second hydraulic support where the third point location sensor is located are up to the three-dimensional geodetic coordinates of each hydraulic support between the (N-1) th hydraulic support where the (N-1) th point location sensor is located and the (N) th hydraulic support where the (N-1) th point location sensor is located.
In the same manner as in step S1, the three-dimensional geodetic coordinates of each of the first to nth hydraulic brackets can be obtained with higher accuracy. Therefore, the precision of the corresponding three-dimensional geodetic coordinates of each hydraulic support from the first hydraulic support to the Nth hydraulic support along the working surface on the cable groove is indirectly improved.
Step S4: and analyzing and processing the three-dimensional geodetic coordinates of the Nth hydraulic support by combining the three-dimensional geodetic coordinates of the hydraulic support at the end position, the frame spacing between the Nth hydraulic support and the hydraulic support at the end position and respective coordinate jitters of the N-th hydraulic support and the hydraulic support at the end position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position so as to eliminate the mechanical clearance error between each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position.
Likewise, it is naturally possible to obtain the three-dimensional geodetic coordinates of each hydraulic mount between the nth hydraulic mount and the hydraulic mount at the end position with higher accuracy. Therefore, the precision of the corresponding three-dimensional geodetic coordinates of each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position on the cable groove along the working surface is indirectly improved.
Therefore, the three-dimensional geodetic coordinates of each hydraulic support with higher precision are obtained finally, and the precision of the corresponding three-dimensional geodetic coordinates of each hydraulic support on the cable groove along the trend of the working surface is indirectly improved.
Based on the method, the embodiment of the invention also provides a dynamic calibration system for the spatial position of the mine fully mechanized coal mining face device, which comprises the following steps: and the industrial personal computer is used for executing any one of the steps 101 to 104 of the dynamic calibration method for the spatial position of the mine fully-mechanized coal mining face device.
The industrial personal computer is an industrial computer provided with an operating system, an automatic control program of the mine fully mechanized coal mining face equipment space position dynamic calibration system is deployed, the automatic control program controls the automatic operation of the dynamic calibration system and the automatic calculation and storage of the three-dimensional geodetic coordinate sequence according to the coal mining process flow when the three-dimensional geodetic coordinate sequence of the cable groove and the hydraulic support needs to be measured, and the automatic control program also receives and executes a control instruction of the moving end, so that the man-machine interactive operation is realized.
In the embodiment of the invention, in order to realize the method more conveniently and indirectly, a mobile terminal can be added, and the mobile terminal is used for monitoring the running state of the dynamic calibration system and the positions of the first 360-degree prism and the second 360-degree prism in real time and sending a control instruction to the industrial personal computer so that the industrial personal computer receives and executes the control instruction, thereby realizing a man-machine interactive running mode.
In summary, the invention does not need workers to manually complete real-time calibration of the actual spatial positions of devices such as a mine fully-mechanized mining face hydraulic support and a scraper conveyor, but obtains the coordinate sequence of the absolute geodetic coordinates of the cable trough and the face hydraulic support based on the dynamic tracking measurement of the measuring robot and the 360-degree prism, thereby ensuring the uniformity of the spatial relationship of the whole mine, and simultaneously organically combines the spatial position relationship of the cable trough and the face hydraulic support, thereby avoiding the frame number inconsistency and the spatial position framing situation between the cable trough and the face hydraulic support.
It is emphasized again that in the embodiment of the present invention, the use of the measuring robot and the 360-degree prism dynamic tracking measurement is only a preferred mode, and the method of the present invention is not limited to be implemented only in this mode, and all modes that can obtain the three-dimensional geodetic coordinate sequence of the hydraulic support and the three-dimensional geodetic coordinate sequence of the cable groove can be used in the method of the present invention.
Referring to fig. 2, a block diagram of a dynamic spatial position calibration device for a fully mechanized mining face of a mine according to an embodiment of the present invention is shown, where the device includes:
the hydraulic support coordinate module 210 is used for preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device on the fully mechanized mining face of the mine and the spacing between the hydraulic support frames;
the cable trough coordinate module 220 is used for preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support on the cable trough, which vertically correspond to the cable trough inspection device on the mine fully mechanized mining face along the direction of the working face, according to the frame numbers and the hydraulic support frame intervals, which vertically correspond to the starting and ending positions of the cable trough inspection device on the mine fully mechanized mining face along the direction of the working face;
the local line segment corresponding processing module 230 is used for corresponding the three-dimensional geodetic coordinate local line segment of each hydraulic support and the trend azimuth angle of the mine fully mechanized mining working face calculated by the hydraulic support inspection device one by one on the basis of the three-dimensional geodetic coordinate local line segment of each hydraulic support and the trend azimuth angle of the mine fully mechanized mining working face, so as to obtain the corresponding accurate three-dimensional geodetic coordinate sequence local line segment of each hydraulic support on the cable trough along the trend of the working face and establish the corresponding relation;
Optionally, install the position sensor on the hydraulic support of default quantity, the device still includes:
and the error elimination module is used for utilizing the point position sensor to combine a three-dimensional geodetic coordinate sequence of the hydraulic support with the coordinate jitter of the frame interval and the hydraulic support in the calculation process of the hydraulic support inspection device, analyzing and processing are carried out to eliminate the mechanical gap error between the hydraulic supports, improve the precision of the three-dimensional geodetic coordinate of each hydraulic support, and indirectly improve the precision of the three-dimensional geodetic coordinate, corresponding to the cable groove, of each hydraulic support, which is calculated by the cable groove inspection device, along the trend of the working surface.
Optionally, the hydraulic support coordinate module includes:
the hydraulic support measuring unit is used for measuring to obtain a three-dimensional geodetic coordinate sequence of the hydraulic support;
and the hydraulic support coordinate unit is used for dividing the three-dimensional geodetic coordinate sequence of the hydraulic support obtained by measurement into halves according to the frame spacing of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device of the fully mechanized mining face of the mine and the frame spacing of the hydraulic supports, and preliminarily obtaining the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support.
Optionally, the cable tray coordinate module includes:
the cable groove measuring unit is used for measuring and obtaining a three-dimensional geodetic coordinate sequence of the cable groove of the mine fully mechanized coal mining face;
and the cable trough coordinate unit is used for dividing the three-dimensional geodetic coordinate sequence of the cable trough obtained by measurement into equal parts according to the vertical corresponding frame number and the hydraulic support frame interval along the trend of the working surface according to the starting position and the ending position of the cable trough inspection device, and preliminarily obtaining the three-dimensional geodetic coordinate and the local corresponding line segment of each hydraulic support on the cable trough along the trend of the working surface.
Optionally, the number of the point position sensors is greater than or equal to 0, and the error elimination module is specifically configured to:
if the number of the point position sensors is 0, analyzing and processing are directly carried out on the basis of the three-dimensional geodetic coordinate sequence of the hydraulic support at the starting position and the hydraulic support at the ending position, the frame spacing and the coordinate jitter of the hydraulic supports without referring to the data of the point position sensors so as to eliminate the mechanical gap error between the hydraulic supports;
if the number of the point position sensors is more than 0 and is N, referring to data of the point position sensors, wherein the point position sensors on the N hydraulic supports are respectively a first point position sensor and a second point position sensor … N point position sensor, and under the condition, the method specifically comprises the following steps:
step S1: analyzing and processing the three-dimensional geodetic coordinates of the hydraulic support at the starting position by combining the three-dimensional geodetic coordinates of the first hydraulic support at the starting position, the frame spacing between the first hydraulic support and the hydraulic support at the starting position and respective coordinate jitters of the first hydraulic support and the hydraulic support at the starting position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the hydraulic support at the starting position and the first hydraulic support so as to eliminate a mechanical gap error between each hydraulic support between the first hydraulic support and the hydraulic support at the starting position;
step S2: analyzing and processing the three-dimensional geodetic coordinates of the first hydraulic support by using the three-dimensional geodetic coordinates of the second hydraulic support where the second point position sensor is located, the frame spacing between the second hydraulic support and the first hydraulic support and respective coordinate jitters of the second hydraulic support and the first hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the second hydraulic support and the first hydraulic support so as to eliminate mechanical gap errors between each hydraulic support between the second hydraulic support and the first hydraulic support;
step S3: repeating the steps S1-S2 to obtain the following steps in sequence: the three-dimensional geodetic coordinates … of each hydraulic support between the third hydraulic support where the third point location sensor is located and the second hydraulic support until the three-dimensional geodetic coordinates of each hydraulic support between the N-1 hydraulic support where the N-1 point location sensor is located and the N hydraulic support where the N-point location sensor is located;
step S4: and analyzing and processing the three-dimensional geodetic coordinates of the Nth hydraulic support by combining the three-dimensional geodetic coordinates of the hydraulic support at the end position, the frame spacing between the Nth hydraulic support and the hydraulic support at the end position and the respective coordinate jitter of the Nth hydraulic support and the hydraulic support at the end position to obtain the three-dimensional geodetic coordinates of each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position so as to eliminate the mechanical clearance error between each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
While the present invention has been described with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, which are illustrative and not restrictive, and it will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A dynamic calibration method for spatial position of a mine fully mechanized coal mining face device is characterized by comprising the following steps:
preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device of the fully mechanized mining face of the mine and the spacing between the hydraulic support frames;
according to the frame numbers and the hydraulic support frame intervals which vertically correspond to the starting and ending positions of the mine fully mechanized mining working face cable groove inspection device along the working face direction, preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support on the cable groove along the working face direction;
on the basis of the three-dimensional geodetic coordinates of each hydraulic support and the moving azimuth angle of the fully mechanized mining face of the mine calculated by the hydraulic support inspection device, the three-dimensional geodetic coordinates of each hydraulic support are in one-to-one correspondence on the three-dimensional geodetic coordinate sequence of the cable groove through the frame number of each hydraulic support and are analyzed and processed, so that the accurate three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support corresponding to the cable groove along the moving direction of the working face are obtained;
based on the three-dimensional geodetic coordinate of every hydraulic support that hydraulic support inspection device calculated and the three-dimensional geodetic coordinate of every hydraulic support that cable groove inspection device calculated move towards along the working face and be in corresponding three-dimensional geodetic coordinate on the cable groove establishes the local corresponding line segment of hydraulic support with the local corresponding relation based on the support number between the line segment of cable groove to form the spatial position relation of hydraulic support, scraper conveyor to visual show in the GIS figure.
2. The calibration method according to claim 1, wherein a point position sensor is installed at a preset hydraulic support position of the hydraulic support inspection device, and the method further comprises:
in the calculation process of the hydraulic support inspection device, the point position sensor at the position of the preset hydraulic support is utilized, the three-dimensional geodetic coordinate sequence of the hydraulic support, the frame interval and the coordinate jitter of the hydraulic support are combined, analysis processing is carried out, the mechanical gap error between the hydraulic supports is eliminated, the precision of the three-dimensional geodetic coordinate of each hydraulic support is improved, and the precision of the three-dimensional geodetic coordinate of each hydraulic support, which is calculated by the cable groove inspection device, is indirectly improved along the trend of the working surface.
3. The calibration method according to claim 1, wherein the preliminary obtaining of the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device on the fully mechanized mining face of the mine and the spacing between the hydraulic supports comprises:
measuring to obtain a three-dimensional geodetic coordinate sequence of the hydraulic support;
according to the number of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device on the fully mechanized mining face of the mine and the spacing between the hydraulic supports, dividing the three-dimensional geodetic coordinate sequence of the measured hydraulic supports into halves according to the spacing between the supports, and preliminarily obtaining the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support.
4. The calibration method according to claim 3, wherein the preliminary obtaining of the three-dimensional geodetic coordinates and the local corresponding line segments of each hydraulic support on the cable trough along the working face direction according to the frame numbers and the hydraulic support frame intervals of the mine fully mechanized mining working face cable trough inspection device which are vertically corresponding to the starting and ending positions along the working face direction comprises:
measuring to obtain a three-dimensional geodetic coordinate sequence of the cable groove of the mine fully mechanized coal mining face;
according to the starting and ending positions of the cable trough inspection device, the number of the frames and the distance between the hydraulic support frames which vertically correspond along the trend of the working face are used, the three-dimensional geodetic coordinate sequence of the cable trough obtained through measurement is divided equally according to the distance between the frames, and the three-dimensional geodetic coordinate and the local corresponding line segment which vertically correspond along the trend of the working face on the cable trough are obtained preliminarily by each hydraulic support.
5. The calibration method according to claim 4, wherein the three-dimensional geodetic coordinate sequence of the hydraulic support is obtained by tracking and measuring a first 360-degree prism by a measuring robot of the mine fully-mechanized mining face, wherein the first 360-degree prism is a device for inspecting all the hydraulic supports back and forth along the mine fully-mechanized mining face in the mine fully-mechanized mining face;
the three-dimensional geodetic coordinate sequence of the cable groove of the mine fully mechanized mining face is obtained by tracking and measuring a second 360-degree prism by the measuring robot, wherein the second 360-degree prism is equipment for round-trip inspection along the cable groove in the mine fully mechanized mining face;
wherein the number of the measuring robots is at least one.
6. The calibration method according to claim 2, wherein the number of the point position sensors is greater than or equal to 0, and as an option, the point position sensors are used for analyzing and processing in combination with a three-dimensional geodetic coordinate sequence of the hydraulic supports, the hydraulic support frame spacing and the coordinate jitter of the hydraulic supports to eliminate the mechanical gap error between the hydraulic supports, and the method comprises the following steps:
if the number of the point position sensors is 0, analyzing and processing are directly carried out on the basis of the three-dimensional geodetic coordinate sequence of the hydraulic support at the starting position and the hydraulic support at the ending position, the frame spacing and the coordinate jitter of the hydraulic supports without referring to the data of the point position sensors, so that the mechanical gap error between the hydraulic supports is eliminated;
if the number of the point position sensors is more than 0 and is N, referring to data of the point position sensors, wherein the point position sensors on the N hydraulic supports are respectively a first point position sensor and a second point position sensor … N point position sensor, and under the condition, the method specifically comprises the following steps:
step S1: analyzing and processing the three-dimensional geodetic coordinates of the hydraulic support at the starting position by combining the three-dimensional geodetic coordinates of the first hydraulic support at the starting position, the frame spacing between the first hydraulic support and the hydraulic support at the starting position and the respective coordinate jitters of the hydraulic support at the starting position and the first hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the hydraulic support at the starting position and the first hydraulic support so as to eliminate the mechanical gap error between the first hydraulic support and each hydraulic support at the starting position;
step S2: analyzing and processing the three-dimensional geodetic coordinates of a second hydraulic support where the second point position sensor is located, the frame spacing between the second hydraulic support and the first hydraulic support and the respective coordinate jitters of the first hydraulic support and the second hydraulic support by using the three-dimensional geodetic coordinates of the first hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the second hydraulic support and the first hydraulic support so as to eliminate the mechanical gap error between each hydraulic support between the second hydraulic support and the first hydraulic support;
step S3: repeating the steps S1-S2 to obtain the following steps in sequence: the three-dimensional geodetic coordinates … of each hydraulic support between the third hydraulic support where the third point location sensor is located and the second hydraulic support up to the three-dimensional geodetic coordinates of each hydraulic support between the nth-1 hydraulic support where the nth-1 point location sensor is located and the nth hydraulic support where the nth point location sensor is located;
step S4: and analyzing and processing the three-dimensional geodetic coordinates of the Nth hydraulic support by combining the three-dimensional geodetic coordinates of the hydraulic support at the end position, the frame spacing between the Nth hydraulic support and the hydraulic support at the end position and the coordinate jitter of the hydraulic support at the end position and the N-th hydraulic support to obtain the three-dimensional geodetic coordinates of each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position so as to eliminate the mechanical clearance error between each hydraulic support between the Nth hydraulic support and the hydraulic support at the end position.
7. The utility model provides a mine is combined and is adopted working face device spatial position developments calibration device which characterized in that, the device includes:
the hydraulic support coordinate module is used for preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support according to the frame numbers of the hydraulic supports at the starting and ending positions of the hydraulic support inspection device on the fully mechanized mining face of the mine and the spacing between the hydraulic support frames;
the cable trough coordinate module is used for preliminarily obtaining three-dimensional geodetic coordinates and local corresponding line segments of each hydraulic support on the cable trough, which vertically correspond to the cable trough inspection device on the fully mechanized mining face along the direction of the working face, according to the frame numbers and the hydraulic support frame intervals, which vertically correspond to the starting and ending positions of the cable trough inspection device on the fully mechanized mining face along the direction of the working face;
the system comprises a cable trough and a local line segment corresponding processing module which is associated with hydraulic supports, wherein the local line segment corresponding processing module is used for corresponding and analyzing the three-dimensional geodetic coordinate local line segment of each hydraulic support and the trend azimuth angle of the mine fully mechanized mining working face calculated by the hydraulic support inspection device on the basis of the three-dimensional geodetic coordinate local line segment of each hydraulic support through the frame number of each hydraulic support in the three-dimensional geodetic coordinate sequence of the cable trough so as to obtain the corresponding accurate three-dimensional geodetic coordinate sequence local line segment of each hydraulic support on the cable trough along the trend of the working face and establish the corresponding relation;
and the GIS display module is used for establishing a corresponding relation between a local corresponding line segment of the hydraulic support and a local corresponding line segment of the cable groove based on a support number so as to form a spatial position relation of the hydraulic support and the scraper conveyer and visually display the space position relation in a GIS graph.
8. The calibration device according to claim 7, wherein a point position sensor is installed at a preset hydraulic support position of the hydraulic support inspection device, and the device further comprises:
and the error elimination module is used for utilizing the point position sensor at the preset hydraulic support position in the calculation process of the hydraulic support inspection device, combining the three-dimensional geodetic coordinate sequence of the hydraulic support, the frame spacing and the coordinate jitter of the hydraulic support to carry out analysis processing so as to eliminate the mechanical gap error between the hydraulic supports, improve the precision of the three-dimensional geodetic coordinate of each hydraulic support, indirectly improve the precision of the three-dimensional geodetic coordinate of each hydraulic support, which is calculated by the cable groove inspection device, along the trend of the working surface.
9. A dynamic calibration system for spatial position of a mine fully mechanized coal mining face device is characterized by comprising: an industrial personal computer;
the industrial personal computer is used for executing the dynamic calibration method for the spatial position of the mine fully-mechanized coal mining face device as claimed in any one of claims 1 to 6.
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