CN115788438A

CN115788438A - Method and device for adjusting fully mechanized coal mining face

Info

Publication number: CN115788438A
Application number: CN202310086992.3A
Authority: CN
Inventors: 朱超; 王刚
Original assignee: Xi'an Huachuang Marco Intelligent Control System Co ltd
Current assignee: Xi'an Huachuang Marco Intelligent Control System Co ltd
Priority date: 2023-02-09
Filing date: 2023-02-09
Publication date: 2023-03-14
Anticipated expiration: 2043-02-09
Also published as: CN115788438B

Abstract

The invention provides a method and a device for adjusting a fully mechanized coal mining face, wherein the method comprises the following steps: obtaining inertial navigation attitude information and corresponding three-dimensional position information in each coal cutting process of the coal mining machine; acquiring attitude information of each scraper corresponding to each knife, and acquiring three-dimensional position information of each scraper corresponding to each knife; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path or a calibrated path of the next knife corresponding to the ith knife; adjusting the heights of an upper roller and a lower roller of the coal mining machine according to the leveling deviation of the kth knife to perform leveling adjustment after the Nth knife cuts the coal; and straightening the fully mechanized mining face of the coal mining machine according to the corrected moving distance of the pth cutter after the mth cutter cuts the coal. The device is used for executing the method. The method and the device for adjusting the fully-mechanized coal mining face improve the accuracy and the reliability of the adjustment of the fully-mechanized coal mining face.

Description

Method and device for adjusting fully mechanized coal mining face

Technical Field

The invention relates to the technical field of coal mining, in particular to a method and a device for adjusting a fully mechanized coal mining face.

Background

In the intelligent mining of coal mines, the coal mining machine operates in a narrow space under a well, and the realization of autonomous positioning is a big problem, and the positioning of the coal mining machine is actually the accurate positioning problem in a local space under the well.

Because of no ground satellite positioning reference support, the coal mining machine can only rely on a self-built local positioning system to solve the problem of pose perception. In the prior art, the flatness of the fully mechanized coal mining face can be realized through the automatic straightening technology of the fully mechanized coal mining face. The basic principle is as follows: firstly, a reference target line of the scraper conveyor is determined in the pushing direction of the fully mechanized mining face, then the position of the scraper conveyor on the fully mechanized mining face is measured, and the flatness of the fully mechanized mining face is realized by adjusting the pushing/pulling distance of the hydraulic support according to the difference value of the reference target line and the position of the scraper conveyor on the fully mechanized mining face. The scheme realizes the continuous straightening of the fully mechanized coal mining face, but the straightening adjustment precision of the fully mechanized coal mining face is low although mechanical errors are considered in the data used for straightening adjustment of the fully mechanized coal mining face from the accumulation of pushing/pulling data of the hydraulic support.

Disclosure of Invention

Aiming at the problems in the prior art, the embodiment of the invention provides a method and a device for adjusting a fully mechanized coal mining face, which can at least partially solve the problems in the prior art.

In a first aspect, the present invention provides a method for adjusting a fully mechanized mining face, including:

calculating to obtain inertial navigation attitude information and corresponding three-dimensional position information of the coal mining machine in the coal cutting process of each cutter according to an angle increment, an acceleration increment and a mileage increment which are obtained in the coal cutting process of each cutter of the coal mining machine on the fully mechanized coal mining face;

resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and corresponding mileage increment;

projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter;

obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M;

after the Nth cutter cuts coal, according to the heights of all the scraping plates corresponding to the (k-1) th cutter and the (k-2) th cutter, obtaining the leveling deviation of the kth cutter so that the heights of an upper roller and a lower roller of a coal mining machine are adjusted according to the leveling deviation of the kth cutter to perform leveling adjustment in the process that the coal mining machine cuts coal on a fully mechanized mining face according to the predicted path or the calibrated path of the kth cutter; wherein k is greater than or equal to N;

obtaining a corrected advancing distance of a pth knife according to the real-time path, the calculated path and the preset advancing distance of the pth knife from the cutting of the mth knife, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected advancing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st knife is a prediction path or a calibration path of the p-1 st knife; p is greater than or equal to M and M is greater than N.

In a second aspect, the present invention provides an adjusting device for a fully mechanized mining face, comprising:

the calculating unit is used for calculating and obtaining inertial navigation attitude information and corresponding three-dimensional position information in the coal cutting process of each cutter of the coal mining machine according to angle increment, acceleration increment and mileage increment obtained in the coal cutting process of each cutter of the coal mining machine on the fully mechanized coal mining face;

the first obtaining unit is used for resolving and obtaining the attitude information of each scraper corresponding to each cutter according to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining the three-dimensional position information of each scraper corresponding to each cutter according to the three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and the corresponding mileage increment;

the projection unit is used for projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper blade corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter;

the second obtaining unit is used for obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M;

the leveling unit is used for obtaining the leveling deviation of the kth knife according to the heights of the scraping plates corresponding to the kth knife and the kth knife from the coal cutting of the Nth knife, so that the heights of an upper roller and a lower roller of the coal mining machine are adjusted according to the leveling deviation of the kth knife to conduct leveling adjustment in the process that the coal mining machine conducts coal cutting on the fully mechanized mining face according to the predicted path or the calibrated path of the kth knife; wherein k is greater than or equal to N;

the straightening unit is used for obtaining a corrected pushing distance of a p-th cutter according to the real-time path, the calculated path and the preset pushing distance of the p-1-th cutter after the M-th cutter cuts coal, so that the fully mechanized coal mining face of the coal mining machine is straightened according to the corrected pushing distance of the p-th cutter in the process that the fully mechanized coal mining face cuts coal according to the corrected path of the p-th cutter; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is greater than or equal to M and M is greater than N.

In a third aspect, the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the method for adjusting a fully mechanized mining face according to any of the above embodiments.

In a fourth aspect, the present invention provides a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, implements the method for adjusting a fully mechanized mining face according to any of the above embodiments.

In a fifth aspect, the present invention provides a computer program product, where the computer program product includes a computer program, and when being executed by a processor, the computer program implements the method for adjusting a fully mechanized mining face according to any of the above embodiments.

According to the adjusting method and device for the fully-mechanized coal mining face, provided by the embodiment of the invention, the inertial navigation attitude information and the corresponding three-dimensional position information in each coal cutting process of the coal mining machine can be obtained by resolving according to the angle increment, the acceleration increment and the mileage increment which are obtained in the process that the coal mining machine cuts coal on each coal cutting knife on the fully-mechanized coal mining face; calculating to obtain the attitude information of each scraper corresponding to each knife according to the inertial navigation attitude information of each coal cutter in the coal cutting process, and obtaining the three-dimensional position information of each scraper corresponding to each knife according to the three-dimensional position information corresponding to the inertial navigation attitude information of each coal cutter in the coal cutting process and the corresponding mileage increment; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M; from the cutting of coal by the Nth knife, according to the heights of the scraping plates corresponding to the (k-1) th knife and the (k-2) th knife, obtaining the leveling deviation of the k-th knife so as to adjust the heights of an upper roller and a lower roller of the coal mining machine according to the leveling deviation of the k-th knife to perform leveling adjustment in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the k-th knife; wherein k is greater than or equal to N; from the cutting of the Mth cutter, according to the real-time path, the calculation path and the preset pushing distance of the p-1 th cutter, the corrected pushing distance of the p-th cutter is obtained, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected pushing distance of the p-th cutter in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibration path of the p-th cutter; wherein the calculation path of the p-1 st knife is a prediction path or a calibration path of the p-1 st knife; the leveling of the bottom plate and the leveling of the scraper conveyor are improved by leveling and adjusting the upper roller and the lower roller, and the straightening deviation is finished by pushing/pulling the hydraulic support and the pushing frame action to ensure the long-time stable and straight coal face and improve the accuracy and reliability of the adjustment of the fully mechanized coal face.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an autonomous navigation system of a coal mining machine according to a first embodiment of the present invention.

Fig. 2 is a schematic flow chart of an adjustment method of a fully mechanized mining face according to a second embodiment of the present invention.

Fig. 3 is a schematic flow chart of an adjusting method of a fully mechanized mining face according to a third embodiment of the present invention.

Fig. 4 is a schematic structural diagram of an adjusting device of a fully mechanized mining face according to a fourth embodiment of the present invention.

Fig. 5 is a schematic structural diagram of an adjusting device of a fully mechanized mining face according to a fifth embodiment of the present invention.

Fig. 6 is a schematic physical structure diagram of an electronic device according to a sixth embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the embodiments of the present invention are further described in detail below with reference to the accompanying drawings. The exemplary embodiments and descriptions of the present invention are provided to explain the present invention, but not to limit the present invention. It should be noted that the embodiments and features of the embodiments in the present application may be arbitrarily combined with each other without conflict.

In order to facilitate understanding of the technical solutions provided in the present application, the following first describes relevant contents of the technical solutions in the present application.

In the coal mining process, the bottom plate of the fully mechanized coal mining face is uneven due to the landform and the accumulation of fallen coal. The unevenness of the bottom plate causes the non-flatness of the scraper conveyor on the bottom plate, and the difference between the set height of the upper roller of the coal cutter and the actual height required by coal cutting is overlarge in the memory coal cutting continuous operation process due to the non-flatness of the scraper conveyor, so that the memory coal cutting function is unsustainable, namely the memory coal cutting function cannot be continuously used. The method is characterized in that inertial navigation is adopted to carry out the straightness control of the coal face, two-dimensional data of the position of the coal mining machine, namely the face direction of the fully mechanized coal mining work and the advancing direction of the fully mechanized coal mining work face, is used, data in the vertical direction of a bottom plate of the fully mechanized coal mining work face is not considered, the fully mechanized coal mining work face is assumed to be advanced on an ideal horizontal plane, the two-dimensional position data of a scraper conveyer of the coal mining machine obtained by the method is inconsistent with the actual pose of the actual scraper conveyer, the long-time and stable straightness of the fully mechanized coal mining work face cannot be achieved, and therefore the straightness control efficiency of the fully mechanized coal mining work face is low.

The embodiment of the invention provides an adjusting method of a fully mechanized mining face, which coordinates the actions of a hydraulic support and a coal mining machine based on information acquired by a strapdown inertial navigation system and a mileometer, saves the heights of an upper roller and a lower roller of the coal mining machine, automatically straightens and levels the fully mechanized mining face, and realizes the dynamic straightening and leveling of the fully mechanized mining face with high efficiency and high quality.

Fig. 1 is a schematic structural diagram of an autonomous navigation system of a coal mining machine according to a first embodiment of the present invention, and as shown in fig. 1, the autonomous navigation system of the coal mining machine according to the embodiment of the present invention includes a strapdown inertial navigation subsystem 1, a odometer 2, and a data processing terminal 3, where:

the data processing terminal 3 is respectively connected with the strapdown inertial navigation subsystem 1 and the odometer 2 in a communication mode.

The strapdown inertial navigation subsystem 1 comprises a triaxial fiber gyroscope and a triaxial accelerometer, wherein the triaxial fiber gyroscope is used for detecting the angular velocity, the angular increment and the angular displacement of three axes of the coal mining machine under a body coordinate system, and the triaxial accelerometer is used for detecting the acceleration and the acceleration increment of the three axes of the coal mining machine under the body coordinate system. Before the coal mining of the coal mining machine advances, the coal mining machine is moved to a coal mining initial position, a carrier coordinate system of the coal mining machine and an attitude transformation matrix of a navigation coordinate system of the strapdown inertial navigation subsystem 1 can be calculated according to the collected angular increment and acceleration increment of the coal mining machine and a strapdown inertial navigation initial alignment algorithm, and a pitch angle, a roll angle and a course angle of the coal mining machine at the coal mining initial position are obtained; when the coal mining machine is used for mining coal, the real-time pitch angle, roll angle and course angle of the coal mining machine can be obtained according to the angle increment, acceleration increment and attitude updating algorithm of the coal mining machine acquired in real time.

The odometer 2 is used for collecting mileage information of the coal mining machine, and the odometer 2 can collect and obtain mileage increment of the coal mining machine when the coal mining machine advances in coal mining. The data processing terminal 3 is used for executing the adjusting method of the fully mechanized coal mining face provided by the embodiment of the invention.

The strapdown inertial navigation subsystem 1 and the data processing terminal can be installed in an explosion-proof electric cabinet of a coal mining machine body. The odometer 2 can be mounted on a rack of the coal mining machine and rotates along with the rack. Wherein, the data processing terminal can adopt an industrial personal computer.

Fig. 2 is a schematic flow chart of a method for adjusting a fully mechanized mining face according to a second embodiment of the present invention, and as shown in fig. 2, the method for adjusting a fully mechanized mining face according to the embodiment of the present invention includes:

s201, resolving and obtaining three-dimensional position information of the coal cutter in the coal cutting process of each cutter according to angle increment, acceleration increment and mileage increment obtained in the coal cutter in the coal cutting process of each cutter on the fully mechanized coal face;

specifically, the coal mining machine circularly cuts the coal seam once when the coal mining machine travels from the end of the fully mechanized mining face to the tail, and the hydraulic support pushes the coal mining machine towards the coal seam once when the coal mining machine cuts 1 cutter. In the process that the coal mining machine travels from the end to the tail of the fully mechanized mining face, the angle increment and the acceleration increment of the coal mining machine can be periodically sampled through the strapdown inertial navigation subsystem, and then the collected angle increment and acceleration increment of the coal mining machine are sent to the data processing terminal; the stroke of the coal mining machine can be periodically sampled through the odometer, and then the acquired mileage information is sent to the data processing terminal. The data processing terminal can calculate and obtain inertial navigation attitude information of the coal mining machine according to the angle increment, the acceleration increment and the attitude updating algorithm of the coal mining machine, and the inertial navigation attitude information comprises a pitch angle, a roll angle and a course angle of the coal mining machine. And the data processing terminal obtains mileage increment information according to the mileage information of each data sampling period. And then, according to the inertial navigation attitude information and the mileage increment information of the coal mining machine, the three-dimensional position information of the coal mining machine can be calculated. The time length of the data sampling period is set according to actual needs, and the embodiment of the present invention is not limited.

Because the coal mining machine moves in the process of cutting coal by each cutter, inertial navigation attitude information and corresponding three-dimensional position information of the coal mining machine can be obtained by calculation in each data sampling period. The inertial navigation attitude information of the coal mining machine of each data sampling period solved by the coal mining machine in each coal cutting process constitutes the inertial navigation attitude information of the coal mining machine in each coal cutting process, the three-dimensional position information of the coal mining machine of each data sampling period solved by the coal mining machine in each coal cutting process constitutes the three-dimensional position information of the coal mining machine in each coal cutting process, and the inertial navigation attitude information and the three-dimensional position information of the coal mining machine in the same data sampling period correspond to each other. The data sampling period is set according to actual needs, and the embodiment of the invention is not limited.

When the coal mining machine is at a coal mining initial position, the strapdown inertial navigation subsystem performs initial alignment, angular velocity measured by the triaxial fiber optic gyroscope and acceleration measured by the triaxial accelerometer are sent to the data processing terminal, the data processing terminal can calculate a carrier coordinate system of the coal mining machine and an attitude conversion matrix of a navigation coordinate system of the strapdown inertial navigation subsystem according to the measured angular velocity and acceleration of the coal mining machine and an initial alignment algorithm, and calculate an initial pitch angle, an initial roll angle and an initial course angle of the coal mining machine. Subsequently, elements in the attitude transformation matrix are needed to be used when solving the inertial navigation attitude information of the coal mining machine. The specific process of calculating the three-dimensional position information of the coal mining machine through the inertial navigation attitude information and the mileage increment information of the coal mining machine is the prior art, and is not described herein any more.

S202, resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of each cutter of the coal mining machine in the coal cutting process, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of each cutter of the coal mining machine in the coal cutting process and corresponding mileage increment information;

specifically, in each data sampling period, the data processing terminal calculates attitude information of the corresponding scraper according to inertial navigation attitude information of the coal mining machine in the data sampling period. The data processing terminal can calculate the frame number of the hydraulic support according to the mileage increment information of the data sampling period and the length of the scraper, and then the three-dimensional position information of the coal mining machine in the same data sampling period is obtained by corresponding the frame number of the hydraulic support to the scraper. The hydraulic supports of the fully mechanized mining face are marked as No. 1, no. 2, no. 3, \8230, no. 8230and No. n respectively according to the advancing direction of the coal mining machine, and each hydraulic support corresponds to one scraper. The attitude information of each scraper blade obtained by the coal mining machine in the coal cutting process of each cutter forms the attitude information of each scraper blade corresponding to each cutter. And the three-dimensional position information of each scraper blade obtained by the coal mining machine in the coal cutting process of each cutter forms the three-dimensional position information of each scraper blade corresponding to each cutter.

S203, projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter;

specifically, in the coal cutting process of each cutter of the coal mining machine, the data processing terminal projects on the bottom plate of the fully mechanized coal mining face based on the three-dimensional position information and the posture information of each scraper, so that the projection coordinates of each scraper on the bottom plate of the fully mechanized coal mining face can be obtained, the projection coordinates of each scraper on the bottom plate of the fully mechanized coal mining face are connected and are subjected to smoothing processing, and then the real-time path of each cutter, namely the path of the coal mining machine actually moving when each cutter cuts coal, can be obtained.

S204, obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Nth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M;

specifically, the coal mining machine advances according to a preset path at the coal mining initial position of the fully mechanized coal mining face to finish coal cutting of the 1 st cutter, and the data processing terminal can obtain the real-time path of the 1 st cutter based on the posture information and the corresponding three-dimensional position information of each scraper blade corresponding to the 1 st cutter. The method comprises the following steps of taking a preset path of a 1 st knife as a predicted path of the 1 st knife, moving the predicted path of the 1 st knife by a preset pushing distance along the pushing direction of a scraper blade, and obtaining a predicted path of a next knife corresponding to the 2 nd knife, namely the predicted path of the 2 nd knife; moving the predicted path of the 2 nd knife by a preset pushing distance along the pushing direction of the scraper to obtain a predicted path of the 3 rd knife; and so on until the M-1 st knife. And the data processing terminal obtains a calibration path of the next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected transition distance of the Mth knife. And from the M +1 th cutter, the data processing terminal obtains the calibration path of the next cutter corresponding to the jth cutter according to the calibration path of the jth cutter and the corrected transition distance of the jth cutter, wherein j is a positive integer larger than M. The value of M is set according to actual needs, and the embodiment of the present invention is not limited.

S205, obtaining the leveling deviation of the kth knife according to the heights of the scraping plates corresponding to the kth-1 knife and the kth-2 knife from the cutting of the coal by the Nth knife; in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the kth cutter, adjusting the heights of an upper roller and a lower roller of a coal mining machine according to the leveling deviation of the kth cutter to perform leveling adjustment; wherein k is greater than or equal to N;

specifically, from the coal cutting of the Nth knife of the coal mining machine, the data processing terminal obtains the leveling deviation of the kth knife according to the heights of the scraping plates corresponding to the kth knife 1 and the kth knife 2. And the data processing terminal provides the leveling deviation of the kth knife for the coal mining machine, and the coal mining machine can adjust the heights of an upper roller and a lower roller of the coal mining machine according to the leveling deviation of the kth knife to perform leveling adjustment in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the kth knife. Wherein the height of each rack screed is obtained from three-dimensional position information of each rack screed. k is equal to or greater than N. It can be understood that the minimum value of N is 3 because the leveling adjustment needs to use the heights of the scrapers corresponding to the (k-1) th knife and the (k-2) th knife.

S206, from the time of cutting coal by the Mth cutter, according to the real-time path, the calculation path and the preset pushing distance of the p-1 th cutter, obtaining the corrected pushing distance of the p-th cutter so that the fully mechanized coal mining face of the coal mining machine is straightened according to the corrected pushing distance of the p-th cutter in the process of cutting coal by the coal mining machine on the fully mechanized coal mining face according to the calibration path of the p-th cutter; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is equal to or greater than M.

Specifically, from the cutting of the M-th cutter of the coal mining machine, the data processing terminal obtains the corrected transition distance of the p-th cutter according to the real-time path, the calculation path and the preset transition distance of the p-1-th cutter. And the data processing terminal provides the corrected pushing distance of the p-th cutter for the coal mining machine, and the coal mining machine can adjust the stroke of the hydraulic support according to the corrected pushing distance of the p-th cutter during pushing/pulling in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the p-th cutter. The calculated path of the p-1 st knife is the predicted path or the calibrated path of the p-1 st knife, if p is equal to N, the calculated path of the p-1 st knife is the predicted path of the p-1 st knife; if p is greater than N, then the computed path for the p-1 st tool is the calibration path for the p-th tool. Wherein p is greater than or equal to M and M is greater than N, so that the leveling adjustment can be firstly carried out, and then the straightening is carried out. Wherein, to fully mechanized coal mining working face alignment, what the regulation is hydraulic support passes the pole stroke.

According to the adjusting method of the fully-mechanized coal mining face, provided by the embodiment of the invention, the inertial navigation attitude information and the corresponding three-dimensional position information in each coal cutting process of the coal mining machine can be obtained by resolving according to the angle increment, the acceleration increment and the mileage increment which are obtained in the process that the coal mining machine cuts coal on each coal cutter on the fully-mechanized coal mining face; resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and corresponding mileage increment; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M; after the Nth cutter cuts coal, according to the heights of all the scraping plates corresponding to the (k-1) th cutter and the (k-2) th cutter, obtaining the leveling deviation of the kth cutter so that the heights of an upper roller and a lower roller of a coal mining machine are adjusted according to the leveling deviation of the kth cutter to perform leveling adjustment in the process that the coal mining machine cuts coal on a fully mechanized mining face according to the predicted path or the calibrated path of the kth cutter; wherein k is greater than or equal to N; obtaining a corrected advancing distance of a pth knife according to the real-time path, the calculated path and the preset advancing distance of the pth knife from the cutting of the mth knife, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected advancing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st knife is a prediction path or a calibration path of the p-1 st knife; the leveling of the bottom plate and the leveling of the scraper conveyor are improved by leveling and adjusting the upper roller and the lower roller when the p is more than or equal to M and the M is more than N, the long-time stable leveling of the coal face is ensured by adjusting the stroke of the hydraulic support during pushing/pulling, and the accuracy and the reliability of the adjustment of the fully mechanized coal face are improved. In addition, the straightening can be carried out on the basis of leveling, so that the straightening reliability is improved.

According to the method for adjusting the fully mechanized coal mining face, the heights of the upper roller and the lower roller of the coal mining machine are leveled, so that the problems that the top plate supporting quality is low and the rib or the top plate is collapsed due to the fact that the coal wall is not straight are reduced, and the problems that the conveying resistance of a scraper conveyor is increased and the scraper conveyor is abraded due to the fact that the scraper conveyor is not straight are reduced; the stroke of the hydraulic support is adjusted during pushing/pulling to avoid the upward movement and the downward movement of the scraper conveyor.

On the basis of the above embodiments, further, the obtaining the leveling deviation of the kth knife according to the heights of the frame scrapers corresponding to the kth-1 knife and the kth-2 knife includes: the method comprises the following steps:

and (4) calculating the height of the s frame scraper corresponding to the k-2 knife minus the height of the s frame scraper corresponding to the k-1 knife to obtain the leveling deviation of the s frame scraper corresponding to the k knife.

Specifically, the data processing terminal obtains the height h of the s frame scraper blade corresponding to the k-2 knife from the three-dimensional position information of the s frame scraper blade corresponding to the k-2 knife ₁ And obtaining the height h of the s frame scraper corresponding to the k-1 knife from the three-dimensional position information of the s frame scraper corresponding to the k-1 knife ₂ . Then calculate h ₁ Minus h ₂ The difference value of the second frame scraper is used as the leveling deviation of the second frame scraper corresponding to the kth knife, the leveling deviation of the second frame scraper corresponding to the kth knife is provided for the coal mining machine, and the coal mining machine can adjust the heights of the upper roller and the lower roller of the coal mining machine in real time according to the leveling deviation of the second frame scraper corresponding to the kth knife.

On the basis of the foregoing embodiments, further, the obtaining a corrected transition distance of the p-th tool according to the real-time path, the calculated path, and the preset transition distance of the p-1-th tool includes:

if the fact that the coordinate of the s-th scraper in the real-time path of the p-1 th knife in the scraper moving direction is larger than the coordinate of the s-th scraper in the scraper moving direction in the calculation path of the p-1 th knife is judged and obtained, correcting the preset moving distance according to the coordinate of the s-th scraper in the scraper moving direction in the real-time path of the p-1 th knife and the coordinate of the s-th scraper in the scraper moving direction in the calculation path of the p-1 th knife, and obtaining the corrected moving distance of the p-th knife at the s-th scraper;

and if the coordinate of the s-th scraper in the scraper moving direction in the real-time path of the p-1 th knife is judged to be less than or equal to the coordinate of the s-th scraper in the scraper moving direction in the calculation path of the p-1 th knife, taking the preset moving distance as the corrected moving distance of the p-th knife at the s-th scraper.

Specifically, the data processing terminal compares the coordinate of the s-th rack scraper in the scraper moving direction in the real-time path of the p-1 st knife with the coordinate of the s-th rack scraper in the scraper moving direction in the calculation path of the p-1 st knife, if the coordinate of the s-th rack scraper in the scraper moving direction in the real-time path of the p-1 st knife is larger than the coordinate of the s-th rack scraper in the scraper moving direction in the calculation path of the p-1 st knife, so that when the coal mining machine cuts coal at the p-1 st knife, coal is cut more along the scraper moving direction at the position of the s-th rack scraper, and a coal mining face is sunken, when the coal mining machine cuts coal at the p-th knife, the pushing distance of the s-th rack scraper in the scraper moving direction needs to be reduced, so that the fully mechanized coal face tends to be flat in the vertical direction, and the data processing terminal corrects the preset distance according to the coordinate of the s-th rack scraper in the scraper moving direction in the real-time path of the p-1 st knife and the coordinate of the s-1 st rack scraper in the calculation path of the scraper moving direction, so as to obtain the corrected distance of the p-1 st knife at the s-1 st knife.

If the coordinate of the s-th scraper in the real-time path of the p-1 th knife in the scraper moving direction is smaller than the coordinate of the s-th scraper in the scraper moving direction in the calculation path of the p-1 th knife, the situation that the coal mining machine cuts coal at the p-1 th knife, the coal is cut less along the scraper moving direction, and the coal mining surface protrudes is caused, when the coal mining machine cuts coal at the p-1 th knife, the s-th scraper can be pushed along the scraper moving direction according to the preset moving distance, and the preset moving distance is used as the corrected moving distance of the p-th knife at the s-th scraper.

If the coordinate of the s th scraper in the scraper pushing direction in the real-time path of the p-1 th knife is equal to the coordinate of the s th scraper in the scraper pushing direction in the calculation path of the p-1 th knife, which indicates that when the coal mining machine cuts coal at the p-1 th knife, the real-time path of the p-1 th knife and the calculation path of the p-1 th knife are superposed at the s th scraper, the s th scraper can be pushed along the scraper pushing direction according to the preset pushing distance when the coal mining machine cuts coal at the p th knife, and the preset pushing distance is used as the corrected pushing distance of the p th knife at the s th scraper.

The corrected displacement distance of the p-th blade at each carriage scraper constitutes the corrected displacement distance of the p-th blade. When the coal mining machine cuts coal at the p-th cutter, the stroke of the hydraulic support of the coal mining machine is adjusted one by one during pushing, sliding and dragging according to the corrected pushing distance of the p-th cutter at each scraper so as to straighten the fully mechanized coal mining face. The push distance of the hydraulic support at the sunken part of the fully mechanized mining face is reduced by the pth knife, and the hydraulic support is normally pushed at the protruded part of the fully mechanized mining face according to the preset push distance, so that the fully mechanized mining face tends to be flat in the vertical direction.

Fig. 3 is a schematic flow chart of an adjusting method for a fully mechanized mining face according to a third embodiment of the present invention, and as shown in fig. 3, the obtaining three-dimensional position information of each scraper corresponding to each cutter according to the three-dimensional position information of each cutter in the coal cutting process of the coal mining machine and the corresponding mileage increment includes:

s301, obtaining the frame number of the hydraulic support corresponding to each data sampling period according to the length of the scraper and the mileage increment corresponding to each data sampling period;

specifically, in each data sampling period, the data processing terminal can calculate and obtain the frame number of the hydraulic support corresponding to the data sampling period according to the mileage increment corresponding to the scraper length data sampling period. Wherein the length of the scraper is preset.

Wherein, in any sampling period, the mileage increment corresponding to the sampling period

Can be calculated according to the following formula.

Wherein, the odometer rotates along with the coal mining machine, and the pulse count output by the zero position is recorded as

The forward single turn is counted by the grating as

The reverse single turn is counted by the grating as

When is coming into contact with

When the numerical value changes

And

zero clearing with a grating number of

The diameter of the measuring wheel is d,

a mile pulse count at a time immediately preceding the current time,

represents the odometer pulse count at the present time,

representing a constant of 3.14.

The frame number of the hydraulic bracket can be calculated according to the following formula.

Wherein the content of the first and second substances,

the number of the hydraulic bracket is shown,

indicating the blade length. The length of the individual blade lengths is usually the same, for example 1.75m。

S302, taking the three-dimensional position information of the coal mining machine corresponding to each data sampling period as the three-dimensional position information of the scraper corresponding to the frame number of the hydraulic support corresponding to each data sampling period.

Specifically, after the rack number of the hydraulic support is obtained, each hydraulic support corresponds to one scraper, and the three-dimensional position information of the coal mining machine corresponding to the data sampling period and the rack number of the hydraulic support correspond to each other, so that the three-dimensional position information of the coal mining machine corresponding to each data sampling period can be used as the three-dimensional position information of the scraper corresponding to the rack number of the hydraulic support corresponding to each data sampling period.

In addition to the above embodiments, N is 3 or more and m is 5 or more.

Specifically, from the 3 rd cutter, the heights of the upper roller and the lower roller of the coal mining machine are adjusted according to the leveling deviation of each cutter to perform leveling adjustment, and from the 5 th cutter, the stroke of the hydraulic support of the coal mining machine is adjusted according to the correction pushing distance of each cutter to achieve straightening of the fully mechanized mining face. Because the height of the scraping plates of the first two knives is needed for leveling adjustment, the leveling adjustment can be started from the 3 rd knife at first, and the leveling adjustment is started earlier, so that the leveling can be performed faster.

And (3) adjusting the stroke of a hydraulic support of the coal mining machine according to the corrected pushing distance of the pth cutter from the coal cutting of the 5 th cutter to realize the straightening of the fully mechanized mining face, wherein 2 cutters are leveled when the 5 th cutter is straightened, and the straightening is carried out on the basis of the leveled, so that the straightening reliability is improved.

The following describes a specific implementation process of the adjusting method for the fully mechanized coal mining face according to the embodiment of the present invention.

The hydraulic supports of the fully mechanized mining face are respectively marked as No. 1, no. 2, no. 3, \8230;, no. n according to the advancing direction of the coal mining machine. Leveling adjustment is carried out from the coal cutting of the 3 rd cutter of the coal mining machine; and (5) straightening from the coal cutting of the 5 th cutter of the coal mining machine. That is, the leveling adjustment and the straightening are performed from the coal cutting of the 5 th blade of the coal mining machine. The moving direction of the scraper is set as an X axis, the advancing direction of the coal mining machine is a Y axis, and the elevation is a Z axis.

The method comprises the steps that a coal mining machine moves to a coal mining initial position, a strapdown inertial navigation subsystem carries out initial alignment, angular velocity measured by a triaxial fiber optic gyroscope and acceleration measured by a triaxial accelerometer are sent to a data processing terminal, the data processing terminal can calculate a carrier coordinate system of the coal mining machine and an attitude conversion matrix C of a navigation coordinate system of the strapdown inertial navigation subsystem according to the measured angular velocity and acceleration of the coal mining machine and an initial alignment algorithm, and an initial pitch angle, an initial roll angle and an initial course angle of the coal mining machine are calculated.

The coal mining machine is arranged at the coal mining initial position of the fully mechanized coal face according to a preset path (also a predicted path of the 1 st cutter, recorded as L) ₁₁ ) The coal was cut by the 1 st cutter. Periodically sampling the angle increment of the coal mining machine through a strapdown inertial navigation subsystem, and then sending the acquired angle increment of the coal mining machine to a data processing terminal; the stroke of the coal mining machine is periodically sampled through the odometer, and then the collected mileage information is sent to the data processing terminal. The data processing terminal can calculate and obtain inertial navigation attitude information of the coal mining machine according to the angle increment, the acceleration increment and the attitude updating algorithm of the coal mining machine. The data processing terminal obtains the mileage increment information of the coal mining machine according to the mileage information of each data sampling period, and then the three-dimensional position information of the coal mining machine can be calculated according to the inertial navigation attitude information and the mileage increment information of the coal mining machine.

In each data sampling period of the coal mining machine in the process of cutting coal by the cutter in the row 1, the data processing terminal calculates the attitude information of the scraper corresponding to the data sampling period according to the inertial navigation attitude information of the coal mining machine in the data sampling period. The data processing terminal can calculate the frame number of the hydraulic support in the data sampling period according to the mileage increment information and the scraper length in the data sampling period, and then the three-dimensional position information of the coal mining machine in the same data sampling period is obtained by corresponding the frame number of the hydraulic support to the scraper.

In the 1 st coal cutting process of the coal mining machine, based on the three-dimensional position information and the posture information of each scraper, fully-mechanized coal mining is carried outProjecting on the bottom plate of the working face to obtain the projection coordinates of each scraper on the bottom plate of the fully mechanized mining face, connecting the projection coordinates of each scraper on the bottom plate of the fully mechanized mining face and performing smoothing treatment to obtain the real-time path L of the 1 st cutter ₂₁ . The data processing terminal predicts the path L according to the 1 st knife ₁₁ And presetting a transition distance d to obtain a predicted path L of the 2 nd tool ₁₂ . In the coal cutting process of the No. 1 cutter of the coal mining machine, the hydraulic support can complete pushing and sliding/pulling and sliding according to the preset pushing distance d.

After the coal mining machine finishes cutting coal by the 1 st cutter, the predicted path L of the 2 nd cutter is followed ₁₂ And performing the 2 nd coal cutting. When the coal mining machine cuts coal by the 1 st cutter, the three-dimensional position information of the coal mining machine is solved and the three-dimensional position information and the posture information of the scrapers are obtained, so that the real-time path L of the 2 nd cutter can be obtained based on the three-dimensional position information and the posture information of each scraper ₂₂ . The data processing terminal predicts the path L according to the 2 nd tool ₁₂ And presetting a transition distance d to obtain a predicted path L of the 3 rd tool ₁₃ . In the process of cutting coal by the cutter at the No. 2 of the coal mining machine, the hydraulic support can complete pushing and sliding/pulling and sliding according to the preset pushing distance d.

After the coal mining machine finishes cutting coal by the 2 nd cutter, the predicted path L of the 3 rd cutter is followed ₁₃ And performing coal cutting on the 3 rd cutter. In the coal cutting process of the coal mining machine by the 3 rd cutter, the three-dimensional position information of the coal mining machine can be solved and the three-dimensional position information and the posture information of the scrapers can be obtained, so that the real-time path L of the 3 rd cutter can be obtained based on the three-dimensional position information and the posture information of each scraper ₂₃ . And in the coal cutting process of the coal mining machine with the 3 rd cutter, the heights of the upper roller and the lower roller of the coal mining machine can be adjusted according to the leveling deviation of the 3 rd cutter so as to carry out leveling adjustment. The leveling deviation of the 3 rd knife comprises the leveling deviation of each frame of scraper, the leveling deviation of the s-th scraper is obtained by calculating the difference of the height of the s-th scraper corresponding to the 2 nd knife minus the height of the s-th scraper corresponding to the 2 nd knife, s is a positive integer, and s is less than or equal to n. The data processing terminal predicts the path L according to the 3 rd cutter ₁₃ And presetting a transition distance d to obtain a predicted path L of the 4 th knife ₁₄ . In the 3 rd coal cutting process of the coal mining machine,the hydraulic support can complete pushing/pulling according to a preset pushing distance d.

After the coal mining machine finishes coal cutting of the 3 rd cutter, the predicted path L of the 4 th cutter is followed ₁₄ And cutting coal by a 4 th cutter. In the coal cutting process of the coal mining machine by the 4 th cutter, the three-dimensional position information of the coal mining machine can be solved and the three-dimensional position information and the posture information of the scrapers can be obtained, so that the real-time path L of the 4 th cutter can be obtained based on the three-dimensional position information and the posture information of each scraper ₂₄ . And in the coal cutting process of the coal mining machine by the 4 th cutter, the heights of the upper roller and the lower roller of the coal mining machine can be adjusted according to the leveling deviation of the 4 th cutter to perform leveling adjustment. The leveling deviation of the 4 th knife comprises the leveling deviation of each frame of scraper, the leveling deviation of the s-th scraper is obtained by calculating the difference of the height of the s-th scraper corresponding to the 3 rd knife minus the height of the s-th scraper corresponding to the 2 nd knife, s is a positive integer, and s is less than or equal to n. The data processing terminal predicts the path L according to the 4 th knife ₁₄ And presetting a transition distance d to obtain a predicted path L of the 5 th knife ₁₅ . And in the 4 th cutting process of the coal mining machine, the hydraulic support can finish pushing/pulling sliding according to the preset pushing distance d.

After the coal mining machine finishes coal cutting by the 4 th cutter, the predicted path L of the 5 th cutter is followed ₁₅ And performing coal cutting on the 5 th cutter. In the process that the coal mining machine cuts coal by the 5 th cutter, the three-dimensional position information of the coal mining machine is solved and the three-dimensional position information and the posture information of the scrapers are obtained, so that the real-time path L of the 5 th cutter can be obtained based on the three-dimensional position information and the posture information of each scraper ₂₅ . And in the coal cutting process of the coal mining machine by the 5 th cutter, the heights of the upper roller and the lower roller of the coal mining machine can be adjusted according to the leveling deviation of the 5 th cutter to carry out leveling adjustment. The leveling deviation of the 5 th knife comprises the leveling deviation of each frame of scraper, the leveling deviation of the s-th scraper is obtained by calculating the difference of the height of the s-th scraper corresponding to the 4 th knife minus the height of the s-th scraper corresponding to the 3 rd knife, s is a positive integer, and s is less than or equal to n.

The data processing terminal is according to the real-time path L of the 4 th knife ₂₄ Predicted route L of the 4 th cutter ₁₄ And a preset shift distance d, obtaining a corrected shift distance of the 5 th knife, and a corrected shift distance of the 5 th knifeThe distance includes a corrected travel distance of the 5 th knife at each shelf blade. The data processing terminal compares the coordinates of the s frame of the scraper in the scraper moving direction in the real-time path of the 4 th knife with the coordinates of the s frame of the scraper in the scraper moving direction in the predicted path of the 4 th knife, if the coordinates of the s frame of the scraper in the scraper moving direction in the real-time path of the 4 th knife is larger than the coordinates of the s frame of the scraper in the scraper moving direction in the predicted path of the 4 th knife, then the coordinates x of the s frame of the scraper in the scraper moving direction in the real-time path of the 4 th knife are determined according to the coordinates x of the s frame of the scraper in the scraper moving direction in the real-time path of the 4 th knife ₂₄ And the coordinate x of the s-th frame scraper in the scraper moving direction in the predicted path of the 4 th knife ₁₄ Correcting the preset pushing distance d to obtain the corrected pushing distance d of the 5 th knife at the s-th frame scraper _5s ，d ₅ =d-（x ₂₄ - x ₁₄ ），x ₂₄ - x ₁₄ The difference of (a) is the straightening deviation of the 5 th knife. The hydraulic support corresponding to the s-th frame scraper can move by the distance d according to the correction _5s And finishing pushing/pulling. And if the coordinate of the s-th frame of scraper in the real-time path of the 4 th knife in the scraper moving direction is less than or equal to the coordinate of the s-th frame of scraper in the predicted path of the 4 th knife in the scraper moving direction, the hydraulic support corresponding to the s-th frame of scraper can finish pushing/pulling according to the preset moving distance d.

The data processing terminal predicts the path L according to the 5 th knife ₁₅ And the correction transition distance of the 5 th tool to obtain the calibration path P of the 6 th tool ₁₆ 。

After the coal mining machine finishes coal cutting by the 5 th cutter, the calibration path P of the 6 th cutter is followed ₁₆ And 6, cutting coal on the cutter. In the coal cutting process of the coal mining machine by the 6 th cutter, the three-dimensional position information of the coal mining machine is solved and the three-dimensional position information and the posture information of the scrapers are obtained, so that the real-time path L of the 6 th cutter can be obtained based on the three-dimensional position information and the posture information of each scraper ₂₆ . And in the coal cutting process of the coal mining machine by the 6 th cutter, the heights of the upper roller and the lower roller of the coal mining machine are adjusted according to the leveling deviation of the 6 th cutter to perform leveling adjustment. The leveling deviation of the 6 th knife comprises the leveling deviation of each frame of scraper, and the leveling deviation of the s-th scraper is obtained by calculating the height of the s-th scraper corresponding to the 5 th knife and subtracting the s-th scraper corresponding to the 4 th knifeS is a positive integer, and s is less than or equal to n.

The data processing terminal is according to the real-time path L of the 6 th knife ₂₆ 6 th knife calibration path P ₁₆ And presetting a moving distance d to obtain a corrected moving distance of the 6 th knife, wherein the corrected moving distance of the 6 th knife comprises the corrected moving distance of the 6 th knife at each frame scraper. The data processing terminal compares the coordinates of the s frame of the scraper in the scraper moving direction in the real-time path of the 5 th knife with the coordinates of the s frame of the scraper in the scraper moving direction in the predicted path of the 5 th knife, if the coordinates of the s frame of the scraper in the scraper moving direction in the real-time path of the 5 th knife is larger than the coordinates of the s frame of the scraper in the scraper moving direction in the predicted path of the 5 th knife, then the coordinates x of the s frame of the scraper in the scraper moving direction in the real-time path of the 5 th knife are determined according to the coordinates x of the s frame of the scraper in the scraper moving direction in the real-time path of the 5 th knife ₂₅ And the coordinate x of the s-th blade in the blade advancing direction in the predicted path of the 5 th blade ₁₅ Correcting the preset pushing distance d to obtain the corrected pushing distance d of the 6 th knife at the s-th frame scraper _6s ，d _6s =d-（x ₂₅ - x ₁₅ ），x ₂₅ - x ₁₅ The difference is the alignment deviation of the 6 th knife. The hydraulic support corresponding to the s-th frame scraper can move by the distance d according to the correction _6s And finishing pushing sliding/pulling sliding. And if the coordinate of the s-th scraper in the scraper pushing direction in the real-time path of the 5 th knife is less than or equal to the coordinate of the s-th scraper in the scraper pushing direction in the predicted path of the 5 th knife, the hydraulic support corresponding to the s-th scraper can complete pushing/pulling according to the preset pushing distance d.

The data processing terminal calibrates the path P according to the 6 th knife ₁₆ And the corrected shift distance of the 6 th knife to obtain the calibration path P of the 7 th knife ₁₇ 。

After the coal mining machine finishes coal cutting of the 6 th cutter, the calibration path P of the 7 th cutter is followed ₁₇ And 7, cutting coal. In the coal cutting process of the coal mining machine by the 7 th cutter, the three-dimensional position information of the coal mining machine can be solved and the three-dimensional position information and the posture information of the scrapers can be obtained, so that the real-time path L of the 7 th cutter can be obtained based on the three-dimensional position information and the posture information of each scraper ₂₇ . Coal cutter is cutting at line 7In the coal process, the heights of the upper roller and the lower roller of the coal mining machine can be adjusted according to the leveling deviation of the 7 th cutter to carry out leveling adjustment. The leveling deviation of the 7 th knife comprises the leveling deviation of each frame of scraper, the leveling deviation of the s-th scraper is obtained by calculating the difference of the height of the s-th scraper corresponding to the 6 th knife minus the height of the s-th scraper corresponding to the 5 th knife, s is a positive integer, and s is less than or equal to n.

The data processing terminal is according to the real-time path L of the 7 th knife ₂₇ 7 th knife calibration path P ₁₇ And presetting a pushing distance d to obtain a corrected pushing distance of the 7 th knife, wherein the corrected pushing distance of the 7 th knife comprises the corrected pushing distance of the 7 th knife at each frame scraper. The data processing terminal compares the coordinates of the s th scraper in the scraper pushing direction in the real-time path of the 6 th knife with the coordinates of the s th scraper in the scraper pushing direction in the calibration path of the 6 th knife, if the coordinates of the s th scraper in the scraper pushing direction in the real-time path of the 6 th knife are larger than the coordinates of the s th scraper in the scraper pushing direction in the calibration path of the 6 th knife, then the coordinates x of the s th scraper in the scraper pushing direction in the real-time path of the 6 th knife are used as the basis ₂₆ And the coordinate x of the s-th frame scraper in the scraper moving direction in the calibration path of the 6 th knife ₁₆ Correcting the preset pushing distance d to obtain the corrected pushing distance d of the 7 th knife at the s-th frame scraper _7s ，d _7s =d-（x ₂₆ - x ₁₆ ），x ₂₆ - x ₁₆ The difference of (a) is the straightening deviation of the 7 th knife. The hydraulic support corresponding to the s-th frame scraper can move by the distance d according to the correction _7s And finishing pushing sliding/pulling sliding. And if the coordinate of the s th scraper in the scraper pushing direction in the real-time path of the 6 th knife is less than or equal to the coordinate of the s th scraper in the scraper pushing direction in the calibration path of the 6 th knife, the hydraulic support corresponding to the s th scraper can complete pushing/pulling according to the preset pushing distance d.

The data processing terminal calibrates the path P according to the 7 th knife ₁₇ And correcting the shift distance of the 7 th knife to obtain the calibration path P of the 8 th knife ₁₈ 。

The adjustment process of the fully mechanized mining face of each cutter from the 8 th cutter to the last 1 st cutter of the coal mining machine is similar to that of the 7 th cutter, and the detailed description is omitted here.

The bottom plate leveling adjustment of the fully-mechanized mining face is completed by adjusting the heights of the upper roller and the lower roller from the 3 rd cutter to the cutter one by one, and the hydraulic support stroke alignment is performed from the 5 th cutter to the cutter one by one after the leveling, so that the dynamic alignment and the leveling of the fully-mechanized mining face with high efficiency and high quality are realized, an accurate advancing path is provided for the coal mining machine, the safe operation of the coal mining machine is ensured, the operation faults or production accidents such as collision, overspeed, overrun and the like are avoided, and the production efficiency of a mine is improved.

Fig. 4 is a schematic structural diagram of an adjusting device for a fully mechanized mining face according to a fourth embodiment of the present invention, and as shown in fig. 4, the adjusting device for a fully mechanized mining face according to the embodiment of the present invention includes a calculating unit 401, a first obtaining unit 402, a projecting unit 403, a second obtaining unit 404, a leveling unit 405, and a straightening unit 406, where:

the calculating unit 401 is configured to calculate and obtain inertial navigation attitude information and corresponding three-dimensional position information of the coal mining machine in each coal cutting process according to an angle increment, an acceleration increment and a mileage increment obtained in the process of performing each coal cutting process on the fully mechanized coal mining face by the coal mining machine; the first obtaining unit 402 is configured to obtain attitude information of each scraper corresponding to each blade through calculation according to inertial navigation attitude information of the coal cutter during coal cutting, and obtain three-dimensional position information of each scraper corresponding to each blade according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter during coal cutting and corresponding mileage increment; the projection unit 403 is configured to perform projection on a bottom plate of the fully mechanized mining face according to the posture information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; the second obtaining unit 404 is configured to obtain a predicted path of a next knife corresponding to an ith knife according to the predicted path of the ith knife and a preset pushing distance, where i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M; the leveling unit 405 is configured to obtain a leveling deviation of the kth knife from the coal cutting of the nth knife according to the heights of the scrapers corresponding to the kth knife and the kth-1 knife and the kth-2 knife, so that the heights of an upper roller and a lower roller of the coal mining machine are adjusted according to the leveling deviation of the kth knife to perform leveling adjustment in the process that the coal mining machine performs coal cutting on the fully mechanized mining face according to the predicted path or the calibrated path of the kth knife; wherein k is greater than or equal to N; the straightening unit 406 is configured to obtain a corrected pushing distance of the pth knife according to the real-time path, the calculated path and the preset pushing distance of the pth knife from the time when the mth knife cuts coal, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected pushing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is greater than or equal to M and M is greater than N.

Specifically, the coal mining machine circularly cuts the coal seam once when the coal mining machine travels from the end of the fully mechanized mining face to the tail, and the hydraulic support pushes the coal mining machine to the coal seam once when the coal mining machine cuts 1 cutter. In the process that the coal mining machine travels from the end to the tail of the fully mechanized mining face, the angle increment and the acceleration increment of the coal mining machine can be periodically sampled through the strapdown inertial navigation subsystem, and then the collected angle increment and acceleration increment of the coal mining machine are sent to the data processing terminal; the stroke of the shearer can be periodically sampled by the odometer, and then the acquired mileage information is transmitted to the calculation unit 401. The calculating unit 401 can calculate and obtain inertial navigation attitude information of the coal mining machine according to the angle increment, the acceleration increment and the attitude updating algorithm of the coal mining machine, wherein the inertial navigation attitude information comprises a pitch angle, a roll angle and a course angle of the coal mining machine. The calculating unit 401 obtains mileage increment information according to the mileage information of each data sampling period. And then, according to the inertial navigation attitude information and the mileage increment information of the coal mining machine, the three-dimensional position information of the coal mining machine can be calculated. The time length of the data sampling period is set according to actual needs, and the embodiment of the invention is not limited.

In each data sampling period, the first obtaining unit 402 calculates attitude information of a corresponding scraper according to inertial navigation attitude information of the coal mining machine in the data sampling period. The first obtaining unit 402 can calculate the frame number of the hydraulic support according to the mileage increment information of the data sampling period and the scraper length, and then, the three-dimensional position information of the coal mining machine in the same data sampling period is corresponding to the scraper through the frame number of the hydraulic support, so that the three-dimensional position information of the scraper is obtained. The hydraulic supports of the fully mechanized mining face are respectively marked as No. 1, no. 2, no. 3, \ 8230 \ 8230;. N, and there are n hydraulic supports, and each hydraulic support corresponds to one scraper. The attitude information of each scraper blade obtained by the coal mining machine in the coal cutting process of each cutter forms the attitude information of each scraper blade corresponding to each cutter. And the three-dimensional position information of each scraper blade corresponding to each blade is formed by the three-dimensional position information of each scraper blade obtained by the coal mining machine in the coal cutting process of each blade.

In the coal cutting process of the coal mining machine by each cutting, the projection unit 403 projects on the bottom plate of the fully mechanized mining face based on the three-dimensional position information and the posture information of each scraper, so as to obtain the projection coordinates of each scraper on the bottom plate of the fully mechanized mining face, and connects and smoothes the projection coordinates of each scraper on the bottom plate of the fully mechanized mining face, so as to obtain the real-time path of each cutting, which is the path that the coal mining machine actually moves when cutting coal by each cutting.

The coal mining machine advances according to a preset path at the coal mining initial position of the fully mechanized mining face to finish coal cutting of the 1 st cutter, and the second obtaining unit 404 can obtain a real-time path of the 1 st cutter based on the posture information and the corresponding three-dimensional position information of each scraper corresponding to the 1 st cutter. The preset path of the 1 st knife is used as the predicted path of the 1 st knife, the predicted path of the 1 st knife is moved for a preset pushing distance along the pushing direction of the scraper, and the predicted path of the next knife corresponding to the 2 nd knife, namely the predicted path of the 2 nd knife, is obtained; moving the predicted path of the 2 nd cutter by a preset pushing distance along the pushing direction of the scraper to obtain the predicted path of the 3 rd cutter; and so on until the M-1 st knife. The second obtaining unit 404 obtains a calibration path of a next tool corresponding to the mth tool according to the predicted path of the mth tool and the corrected shift distance of the mth tool. And from the M +1 th cutter, the data processing terminal obtains the calibration path of the next cutter corresponding to the jth cutter according to the calibration path of the jth cutter and the corrected transition distance of the jth cutter, wherein j is a positive integer larger than M. The value of M is set according to actual needs, and the embodiment of the present invention is not limited.

From the cutting of coal by the nth knife of the coal mining machine, the leveling unit 405 obtains the leveling deviation of the kth knife according to the heights of the scrapers corresponding to the kth knife 1 and the kth knife 2. The leveling unit 405 provides the leveling deviation of the kth knife to the shearer, and the shearer adjusts the heights of the upper roller and the lower roller of the shearer according to the leveling deviation of the kth knife to perform leveling adjustment in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the kth knife. Wherein the height of each frame screed is obtained from three-dimensional position information of each frame screed. k is equal to or greater than N. It can be understood that the minimum value of N is 3 because the leveling adjustment needs to use the heights of the scrapers corresponding to the k-1 st knife and the k-2 nd knife.

From the coal cutting of the Mth blade of the coal mining machine, the straightening unit 406 obtains a corrected transition distance of the pth blade according to the real-time path, the calculated path and the preset transition distance of the pth blade. The straightening unit 406 provides the corrected moving distance of the pth cutter to the coal mining machine, and the coal mining machine can adjust the stroke of the hydraulic support according to the corrected moving distance of the pth cutter during pushing/pulling in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the pth cutter so as to straighten the fully mechanized mining face of the coal mining machine. The calculated path of the p-1 st knife is the predicted path or the calibrated path of the p-1 st knife, if p is equal to N, the calculated path of the p-1 st knife is the predicted path of the p-1 st knife; if p is greater than N, then the computed path for the p-1 st blade is the calibration path for the p-th blade. Wherein p is more than or equal to M and M is more than N, so that the leveling adjustment can be firstly carried out and then the straightening is carried out.

The adjusting device for the fully-mechanized coal mining face provided by the embodiment of the invention can obtain inertial navigation attitude information and corresponding three-dimensional position information in each coal cutting process of the coal mining machine by resolving according to angle increment, acceleration increment and mileage increment obtained in each coal cutting process of the coal mining machine on the fully-mechanized coal mining face; resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and corresponding mileage increment; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M; from the cutting of coal by the Nth knife, according to the heights of the scraping plates corresponding to the (k-1) th knife and the (k-2) th knife, obtaining the leveling deviation of the k-th knife so as to adjust the heights of an upper roller and a lower roller of the coal mining machine according to the leveling deviation of the k-th knife to perform leveling adjustment in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the k-th knife; wherein k is greater than or equal to N; from the cutting of the Mth cutter, according to the real-time path, the calculation path and the preset pushing distance of the p-1 th cutter, the corrected pushing distance of the p-th cutter is obtained, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected pushing distance of the p-th cutter in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibration path of the p-th cutter; wherein the calculation path of the p-1 st knife is a prediction path or a calibration path of the p-1 st knife; the leveling of the bottom plate and the leveling of the scraper conveyer are improved by leveling and adjusting the upper roller and the lower roller when the p is more than or equal to M and the M is more than N, the stable and straight coal face for a long time is ensured by straightening the hydraulic support, and the accuracy and the reliability of the adjustment of the fully mechanized coal face are improved. In addition, the straightening can be carried out on the basis of leveling, so that the straightening reliability is improved.

On the basis of the above embodiments, further, the leveling unit 405 is specifically configured to:

and (4) calculating the height of the s frame scraper corresponding to the k-1 knife minus the height of the s frame scraper corresponding to the k-2 knife to obtain the leveling deviation of the s frame scraper corresponding to the k knife.

On the basis of the foregoing embodiments, further, the straightening unit 406 is specifically configured to:

if the fact that the coordinate of the s-th scraper in the real-time path of the p-1 th knife in the scraper moving direction is larger than the coordinate of the s-th scraper in the predicted path of the p-1 th knife in the scraper moving direction is judged and obtained, correcting the preset moving distance according to the coordinate of the s-th scraper in the scraper moving direction in the real-time path of the p-1 th knife and the coordinate of the s-th scraper in the predicted path of the p-1 th knife in the scraper moving direction, and obtaining the corrected moving distance of the p-th knife at the s-th scraper;

and if the coordinate of the s-th scraper in the scraper moving direction in the real-time path of the p-1 st knife is judged to be less than or equal to the coordinate of the s-th scraper in the scraper moving direction in the predicted path of the p-1 st knife, taking the preset moving distance as the corrected moving distance of the p-th knife at the s-th scraper.

Fig. 5 is a schematic structural diagram of an adjusting apparatus of a fully mechanized mining face according to a fifth embodiment of the present invention, and as shown in fig. 5, on the basis of the foregoing embodiments, further, the projection unit 403 includes a frame number obtaining subunit 4031 and a position obtaining subunit 4032, where:

the frame number obtaining subunit 4031 is configured to obtain, according to the length of the scraper and the mileage increment corresponding to each data sampling period, a frame number of the hydraulic support corresponding to each data sampling period; the position obtaining subunit 4032 is configured to use the three-dimensional position information of the coal mining machine corresponding to each data sampling period as the three-dimensional position information of the scraper corresponding to the rack number of the hydraulic support corresponding to each data sampling period.

In addition to the above embodiments, N is not less than 3 and M is not less than 5.

The embodiment of the apparatus provided in the embodiment of the present invention may be specifically configured to execute the processing flows of the foregoing method embodiments, and its functions are not described herein again, and reference may be made to the detailed description of the foregoing method embodiments.

Fig. 6 is a schematic physical structure diagram of an electronic device according to a sixth embodiment of the present invention, and as shown in fig. 6, the electronic device may include: the system comprises a processor 601, a communication interface 602, a memory 603 and a communication bus 604, wherein the processor 601, the communication interface 602 and the memory 603 are communicated with each other through the communication bus 604. The processor 601 may call logic instructions in the memory 603 to perform the following method: calculating to obtain inertial navigation attitude information and corresponding three-dimensional position information in each coal cutting process of the coal mining machine according to an angle increment, an acceleration increment and a mileage increment which are obtained in the process that the coal mining machine performs each coal cutting on the fully mechanized mining face; resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and corresponding mileage increment; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M; from the cutting of coal by the Nth knife, according to the heights of the scraping plates corresponding to the (k-1) th knife and the (k-2) th knife, obtaining the leveling deviation of the k-th knife so as to adjust the heights of an upper roller and a lower roller of the coal mining machine according to the leveling deviation of the k-th knife to perform leveling adjustment in the process of cutting coal on the fully mechanized mining face according to the predicted path or the calibrated path of the k-th knife; wherein k is greater than or equal to N; obtaining a corrected advancing distance of a pth knife according to the real-time path, the calculated path and the preset advancing distance of the pth knife from the cutting of the mth knife, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected advancing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is greater than or equal to M and M is greater than N.

In addition, the logic instructions in the memory 603 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

The present embodiment discloses a computer program product comprising a computer program stored on a non-transitory computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, enable the computer to perform the method provided by the above-mentioned method embodiments, for example, comprising: calculating to obtain inertial navigation attitude information and corresponding three-dimensional position information in each coal cutting process of the coal mining machine according to an angle increment, an acceleration increment and a mileage increment which are obtained in the process that the coal mining machine performs each coal cutting on the fully mechanized mining face; resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and corresponding mileage increment; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shift distance of the jth knife, wherein j is greater than M; after the Nth cutter cuts coal, according to the heights of all the scraping plates corresponding to the (k-1) th cutter and the (k-2) th cutter, obtaining the leveling deviation of the kth cutter so that the heights of an upper roller and a lower roller of a coal mining machine are adjusted according to the leveling deviation of the kth cutter to perform leveling adjustment in the process that the coal mining machine cuts coal on a fully mechanized mining face according to the predicted path or the calibrated path of the kth cutter; wherein k is greater than or equal to N; obtaining a corrected advancing distance of a pth knife according to the real-time path, the calculated path and the preset advancing distance of the pth knife from the cutting of the mth knife, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected advancing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is greater than or equal to M and M is greater than N.

The present embodiment provides a computer-readable storage medium, which stores a computer program, where the computer program causes the computer to execute the method provided by the foregoing method embodiments, for example, the method includes: calculating to obtain inertial navigation attitude information and corresponding three-dimensional position information of the coal mining machine in the coal cutting process of each cutter according to an angle increment, an acceleration increment and a mileage increment which are obtained in the coal cutting process of each cutter of the coal mining machine on the fully mechanized coal mining face; resolving and obtaining attitude information of each scraper corresponding to each cutter according to inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter, and obtaining three-dimensional position information of each scraper corresponding to each cutter according to three-dimensional position information corresponding to the inertial navigation attitude information of the coal cutter in the coal cutting process of each cutter and corresponding mileage increment; projecting on a bottom plate of the fully mechanized mining face according to the attitude information of each scraper corresponding to each cutter and the corresponding three-dimensional position information to obtain a real-time path of each cutter; obtaining a predicted path of a next knife corresponding to the ith knife according to the predicted path of the ith knife and a preset pushing distance, wherein i is smaller than M; obtaining a calibration path of a next knife corresponding to the Mth knife according to the predicted path of the Mth knife and the corrected moving distance of the Mth knife; obtaining a calibration path of a next knife corresponding to the jth knife according to the calibration path of the jth knife and the corrected shifting distance of the jth knife, wherein j is greater than M; after the Nth cutter cuts coal, according to the heights of all the scraping plates corresponding to the (k-1) th cutter and the (k-2) th cutter, obtaining the leveling deviation of the kth cutter so that the heights of an upper roller and a lower roller of a coal mining machine are adjusted according to the leveling deviation of the kth cutter to perform leveling adjustment in the process that the coal mining machine cuts coal on a fully mechanized mining face according to the predicted path or the calibrated path of the kth cutter; wherein k is greater than or equal to N; obtaining a corrected advancing distance of a pth knife according to the real-time path, the calculated path and the preset advancing distance of the pth knife from the cutting of the mth knife, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected advancing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is greater than or equal to M and M is greater than N.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In the description herein, reference to the description of the terms "one embodiment," "a particular embodiment," "some embodiments," "for example," "an example," "a particular example," or "some examples," etc., means 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 invention. In the present specification, the above terms

The schematic representations are not necessarily referring 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.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims

1. A method for adjusting a fully mechanized mining face is characterized by comprising the following steps:

obtaining a corrected advancing distance of a pth knife according to the real-time path, the calculated path and the preset advancing distance of the pth knife from the cutting of the mth knife, so that the fully mechanized mining face of the coal mining machine is straightened according to the corrected advancing distance of the pth knife in the process that the coal mining machine cuts coal on the fully mechanized mining face according to the calibrated path of the pth knife; wherein the calculation path of the p-1 st cutter is a prediction path or a calibration path of the p-1 st cutter; p is greater than or equal to M and M is greater than N.

2. The method according to claim 1, wherein obtaining the leveling deviation of the k-th knife according to the heights of the scrapers corresponding to the k-1 th knife and the k-2 th knife comprises:

3. The method of claim 1, wherein the calculating the path and the preset lapse distance according to the real-time path of the p-1 st knife comprises:

and if the coordinate of the s-th scraper in the scraper moving direction in the real-time path of the p-1 th knife is judged to be less than or equal to the coordinate of the s-th scraper in the scraper moving direction in the predicted path of the p-1 th knife, taking the preset moving distance as the corrected moving distance of the p-th knife at the s-th scraper.

4. The method of claim 1, wherein the obtaining the three-dimensional position information of each scraper blade corresponding to each blade according to the three-dimensional position information of the coal mining machine during the coal cutting process of each blade and the corresponding mileage increment comprises:

acquiring the frame number of the hydraulic support corresponding to each data sampling period according to the length of the scraper and the mileage increment corresponding to each data sampling period;

and taking the three-dimensional position information of the coal mining machine corresponding to each data sampling period as the three-dimensional position information of the scraper corresponding to the frame number of the hydraulic support corresponding to each data sampling period.

5. The method of any one of claims 1 to 4, wherein N is 3 or greater and M is 5 or greater.

6. An adjusting device for a fully mechanized mining face is characterized by comprising:

the first obtaining unit is used for calculating and obtaining the attitude information of each scraper corresponding to each knife according to the inertial navigation attitude information of each knife in the coal cutting process of the coal mining machine, and obtaining the three-dimensional position information of each scraper corresponding to each knife according to the three-dimensional position information corresponding to the inertial navigation attitude information of each knife in the coal cutting process of the coal mining machine and the corresponding mileage increment;

7. The device according to claim 6, characterized in that the leveling unit is specifically configured for:

and (4) calculating the height of the s frame scraper blade corresponding to the k-1 knife and subtracting the height of the s frame scraper blade corresponding to the k-2 knife to obtain the leveling deviation of the s frame scraper blade corresponding to the k knife.

8. The apparatus according to claim 6, wherein the straightening unit is specifically configured to:

9. The apparatus of claim 7, wherein the projection unit comprises:

the frame number obtaining subunit is used for obtaining the frame number of the hydraulic support corresponding to each data sampling period according to the length of the scraper and the mileage increment corresponding to each data sampling period;

and the position obtaining subunit is used for taking the three-dimensional position information of the coal mining machine corresponding to each data sampling period as the three-dimensional position information of the scraper corresponding to the frame number of the hydraulic support corresponding to each data sampling period.

10. The apparatus of any one of claims 6 to 9, wherein N is equal to or greater than 3 and m is equal to or greater than 5.

11. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the method of any of claims 1 to 5 when executing the computer program.

12. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, implements the method of any one of claims 1 to 5.

13. A computer program product, characterized in that the computer program product comprises a computer program which, when being executed by a processor, carries out the method of any one of claims 1 to 5.