A laser scanning device and method for hydraulic support with follow-up self-compensation for coal discharge

Abstract

The present invention relates to a hydraulic support follow-up self-compensation coal discharge laser scanning device and method, which is suitable for use in coal mines. It includes an inclination sensor, a power box, a laser scanning device, an industrial computer, a display, and a chute main control computer, wherein the laser scanning device is provided with a laser radar, a stepper motor driver, a stepper motor, and an inclination sensor b, the power box is connected to the laser scanning device, the industrial computer, and the display to provide power for them, and the industrial computer is respectively connected to the display, the laser scanning device, and the inclination sensor a line. It can obtain coal quantity characteristics from the collected laser point cloud data, establish a digital terrain model in combination with the speed of the scraper conveyor for grid division, obtain the coal flow volume, and provide data support for the closing of the coal discharge port. At the same time, based on the posture transformation characteristics of the hydraulic support and the angle change of the rear connecting rod of the hydraulic support, the laser scanning device is adjusted for angle self-compensation, so as to achieve uninterrupted and precise coal quantity measurement without manual intervention.

Description

Technical Field

[0001] The invention relates to a coal caving amount laser scanning device and method, in particular to a hydraulic support follow-up self-compensation coal caving amount laser scanning device and method used in coal mines, belonging to the technical field of intelligent mining of fully mechanized caving working faces in coal mines. Background Art

[0002] In the process of fully mechanized caving in coal mines, one of the problems that needs to be solved urgently is how to correctly judge the optimal opening and closing time of the caving port, which is a technical problem that needs to be solved urgently to match intelligent fully mechanized caving. At present, there are two main methods for the opening and closing time of the caving port. One is that the caving workers determine the opening and closing of the caving port through vision, hearing, and experience accumulation. This method will lead to over-caving or under-caving, resulting in a large amount of coal loss or gangue mixing, which will waste resources and increase the cost of later washing. At the same time, the caving process will produce a large amount of dust and gas, which will pose a huge threat to the life and health of the caving workers. The second is to use an electro-hydraulic control system to realize the opening and closing of the caving port. The basic method is to embed a pre-set caving program in the electro-hydraulic control system, and realize the opening and closing of the caving port according to the pre-set caving action and caving time. Due to changes in factors such as coal seam thickness, if the opening and closing time of the caving port remains unchanged, it will inevitably lead to over-caving or under-caving during the caving process, resulting in a decline in coal quality or loss of resources. Therefore, in the process of intelligent coal discharge, online monitoring of the amount of coal discharged is the key technology for accurate coal discharge, and the dynamic parameters of the coal flow at the discharge port are the important basis for the action and control of the coal discharge mechanism. The key to real-time monitoring of the amount of coal discharged in the underground fully-mechanized caving working face is to obtain the motion characteristic information of the coal flow falling on the upper part of the scraper conveyor, and to infer the amount of coal pile and the amount of coal discharged through the coal flow characteristic information. Since the scraper conveyor carries coal, the coal flow moves linearly relative to the support. The laser scanning method can be used to obtain the cross-sectional profile height information of the coal pile. By laser scanning and sampling the surface profile of the coal flow at different times, a sequence of cross-sectional height parameters of the coal pile within a period of time is formed. Combined with the scraper conveyor speed, the amount of coal transported within a period of time can be calculated. The coal transported amount and the amount of coal discharged at the coal discharge port of the coal discharge support have a one-to-one correspondence, and the coal discharge amount information of the working face can be obtained.

[0003] The monitoring device for obtaining the amount of coal discharge based on the laser scanning method is generally placed on the hydraulic support. When the hydraulic support is raised, pushed, and the tail beam is retracted and extended, the relative position of the laser scanning device and the scraper will change. Even due to the change in relative angle, the laser scanning device cannot scan the coal flow contour on the scraper. Therefore, the posture of the hydraulic support is an important parameter for the operation of the laser scanning device. Mastering the posture of the hydraulic support and adaptively compensating and adjusting the laser scanning device is conducive to the operation control and uninterrupted scanning of the laser scanning device, which is the key technology to realize truly intelligent coal discharge. Summary of the invention

[0004] Purpose of the invention: In view of the deficiencies of the above-mentioned technologies, a hydraulic support follow-up self-compensation coal caving laser scanning device and method is provided, which has a simple structure, is easy to use, has a high degree of automation, can realize real-time monitoring of the coal caving amount in the fully-mechanized caving working face and self-compensate the coal caving amount detection device by changing the hydraulic support posture, can perform adaptive posture compensation according to the hydraulic support posture, and can reduce the labor intensity of coal caving workers.

[0005] Technical solution: To achieve the above technical purpose, the hydraulic support follow-up self-compensation coal discharge laser scanning device of the present invention is characterized in that it includes a tilt sensor a, a power box, a laser scanning device, an industrial computer, and a display. The industrial computer is connected to the display, the laser scanning device and the tilt sensor a respectively.

[0006] The laser scanning device comprises an explosion-proof shell, in which a laser radar, a stepper motor driver and an inclination sensor b are respectively arranged, a stepper motor for assisting the laser scanning device in adjusting the inclination angle is arranged on the explosion-proof shell, the stepper motor is connected to the stepper motor driver, a window is arranged at the end cover of the shell of the laser scanning device, the window of the laser scanning device is aligned with the rear scraper conveyor and is installed on the rear connecting rod of the hydraulic support and swings along with the rear connecting rod of the hydraulic support, the laser scanning device adjusts the relative angle relative to the rear connecting rod of the hydraulic support by controlling the stepper motor inside it; the laser radar, the stepper motor driver and the inclination sensor b are respectively connected to the industrial computer through lines; the inclination sensor a is arranged on the rear connecting rod of the hydraulic support, the inclination sensor a is arranged in the middle section of the rear connecting rod of the hydraulic support and is spaced one end away from the rotation center of the base of the hydraulic support, the inclination sensor a is used to sense the posture change of the rear connecting rod of the hydraulic support in real time, and the inclination sensor b is used to sense the posture change of the laser radar scanning device in real time.

[0007] When in use, each hydraulic support on the working surface is provided with the hydraulic support follow-up self-compensation coal discharge laser scanning device of the present application, and all the hydraulic support follow-up self-compensation coal discharge laser scanning devices are connected to the main control computer of the chute through lines.

[0008] The industrial computer uses the laser point cloud data sent and received by the laser radar to perform data preprocessing and calculation, and then sends the processing and calculation results to the display for display; receives and analyzes the posture change data sent by the inclination sensor a and the inclination sensor b, and then controls the stepper motor to adjust the inclination of the laser radar scanning device to achieve posture compensation.

[0009] The power box is connected to the inclination sensor a, laser scanning device, industrial computer and display through power lines and supplies power. The power box converts 127V to 24V power.

[0010] The model of the laser mine is LMS111, and the models of the inclination sensor a and the inclination sensor b are SST300 explosion-proof inclination sensors.

[0011] A scanning method of a hydraulic support follow-up self-compensation coal discharge laser scanning device, the steps of which are as follows:

[0012] First, the equipment is powered on, and the laser radar in the laser scanning device is started to emit infrared laser to the scraper conveyor, and then the reflected laser point cloud data is received, and then the received point cloud data is transmitted to the industrial computer through the network port;

[0013] The industrial computer uses the time-of-flight TOF method to pre-process the received laser point cloud data, and calculates the cross-sectional profile of the coal quantity on the scraper conveyor in real time and continuously, and displays it on the display in real time;

[0014] According to the scanned cross-section profile on the display, the laser scanning range of the laser radar is adjusted by the industrial computer based on whether the scraper conveyor is within the laser radar scanning range to ensure that the laser scanning range covers the entire scraper conveyor;

[0015] After coal discharge begins, the relative positions of the rear hydraulic support rear link, laser scanning device and scraper conveyor are calibrated using inclination sensors a and b. The industrial computer receives the point cloud data sent by the laser radar and processes it to obtain the height profile of the cross section of the coal on the scraper conveyor.

[0016] According to the coal flow velocity information on the scraper conveyor obtained from the underground machine control center, a digital terrain model is established for grid division, and the actual coal flow on the scraper conveyor is calculated through accumulation, and the result is displayed on the display in real time;

[0017] The industrial computer transmits the coal flow rate to the chute master computer in real time. The chute master computer compares the preset coal discharge threshold with the real-time coal discharge. When the coal discharge on the scraper conveyor exceeds the set coal discharge threshold, an alarm is sounded and coal discharge is stopped.

[0018] The industrial computer receives data from the inclination sensor a and the inclination sensor b in real time, and calculates the angle of the laser scanning device and its compensation angle according to the inclination change of the inclination sensor a and the inclination sensor b and the relative position calibrated in advance, through the change of the inclination sensor a and the inclination sensor b and the relative position calibrated in advance;

[0019] The industrial computer controls the stepper motor to drive the laser scanning device to rotate based on the calculated compensation angle. The compensation angle is the angle of rotation of the stepper motor, so that it can reach the ideal position to cover the scraper conveyor to achieve compensation of the scanning angle of the laser scanning device.

[0020] The calculation process of the angle of the laser scanning device and its compensation angle is:

[0021] When the rear link of the hydraulic support and the laser scanning device are in the initial position 1, the pitch angle calibration β1 of the rear link of the hydraulic support detected by the inclination sensor a and the inclination angle calibration α1 of the laser scanning device detected by the inclination sensor b are transmitted to the industrial computer and marked as the initial position 1 corresponding to the pitch angle calibration (β1, α1); the vertical angle β1 measured by the inclination sensor b inside the laser scanning device and the relative coordinate position of the edge of one side of the scraper conveyor close to the scraper conveyor are calculated by the installation position of the laser scanning device on the rear link and the vertical angle of the inclination sensor a and the relative position of the scraper conveyor and the rotation center of the rear link of the hydraulic support. The calculated scanning lower boundary and the vertical line angle α1 of the laser scanning device The sum of the angles is equal to the sum of the vertical angle β2 measured by the tilt sensor b after the hydraulic support posture is transformed and the angle α2 between the actual lower boundary of the position 2 scan and the vertical line of the laser scanning device. The angle α2 between the actual lower boundary of the position 2 scan and the vertical line of the laser scanning device is calculated according to the formula: α1+β1=α2+β2. At the same time, according to the relative coordinate position of the laser scanning device at position 2 and the edge of the scraper conveyor close to the scraper conveyor, the angle γ between the ideal lower boundary of the position 2 scan and the vertical line of the laser scanning device is calculated. The difference between the angle α2 between the actual lower boundary of the scan and the vertical line of the laser scanning device and the angle γ between the ideal lower boundary of the scan and the vertical line of the laser scanning device is the compensation angle. The direction of the compensation angle is determined according to the positive or negative change of the value of the tilt sensor a. The specific formula is as follows:

[0022]

[0023] α2=α1+β1-β2

[0024]

[0025] Compensation angle = α2-γ

[0026] in,

[0027] L1=nm×cos(90°-β1)

[0028] L2=nm×cos(90°-β2)

[0029] H1=h+m×sin(90°-β2)

[0030] H2=nm×sin(90°-β2)

[0031] Wherein: L1 is the horizontal distance between the laser scanning device and the left edge of the scraper conveyor at position 1, L2 is the horizontal distance between the laser scanning device and the left edge of the scraper conveyor at position 2, H1 is the vertical distance between the laser scanning device and the scraper conveyor at position 1, H2 is the vertical distance between the laser scanning device and the scraper conveyor at position 1, h is the vertical distance between the rotation center of the rear connecting rod of the hydraulic support and the scraper conveyor, n is the horizontal distance between the rotation center of the rear connecting rod of the hydraulic support and the left edge of the scraper conveyor, and m is the distance between the installation position of the laser scanning device on the rear connecting rod of the hydraulic support and the rotation center of the rear connecting rod of the hydraulic support.

[0032] The scanning range of the laser scanning device is adjusted and the position is calibrated by irradiating the scanning lower boundary of the laser radar lens on the edge of the scraper conveyor close to the scraper conveyor. According to the inclination change after the hydraulic support posture transformation, the laser scanning angle is adjusted so that the laser scanning angle can cover the entire scraper conveyor.

[0033] Beneficial effects: Compared with the prior art, the technical solution of the present invention has the following beneficial technical effects:

[0034] This device uses laser radar to scan the amount of coal in the scraper conveyor, obtains the coal amount characteristics from the collected laser point cloud data, and calculates the volume of coal flow in combination with the speed of the scraper conveyor to provide data support for the closing of the coal discharge port. At the same time, based on the posture transformation characteristics of the hydraulic support and the angle change of the rear connecting rod of the hydraulic support, the laser scanning device is self-compensated and adjusted to achieve the purpose of uninterrupted and precise coal quantity measurement without manual intervention. It has stronger adaptability to complex underground environments and higher accuracy, and can effectively and accurately obtain coal quantity characteristics and control the amount of coal discharge; after fitting the scan data, the coal flow characteristics on the scraper conveyor are displayed on the display in real time, and the display is intuitive and convenient for workers to observe. The present invention is reliable and practical, can truly realize automatic coal flow detection, and can adaptively adjust the laser scanning device based on the posture change of the hydraulic support, effectively improving the degree of automation and coal discharge efficiency, and reducing the labor intensity of workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the installation of the laser scanning device for the hydraulic support with self-compensation for coal discharge according to the present invention;

[0036] Figure 2 It is a connection schematic diagram of the laser scanning device for the hydraulic support follow-up self-compensation coal discharge volume of the present invention;

[0037] Figure 3 This is a self-compensation working principle diagram of the laser scanning device for self-compensation of coal discharge of the hydraulic support of the present invention;

[0038] Figure 4This is a flow chart of the laser scanning method for the hydraulic support follow-up self-compensation coal discharge volume of the present invention.

[0039] In the figure: 1-display; 2-industrial computer; 3-power box; 4-rear connecting rod of hydraulic support; 5-laser scanning device; 6-scraper conveyor; 7-tilt sensor a; 501-LMS111 laser radar; 502-stepping motor driver; 503-stepping motor; 504-tilt sensor b; DETAILED DESCRIPTION

[0040] The present invention will be further described below with reference to the embodiments in the accompanying drawings.

[0041] like Figure 1 As shown, the hydraulic support follow-up self-compensation coal discharge laser scanning device of the present invention, each hydraulic support on the working surface is provided with the hydraulic support follow-up self-compensation coal discharge laser scanning device of the present application, and all the hydraulic support follow-up self-compensation coal discharge laser scanning devices are connected to the main control computer of the chute through the line; it includes the inclination sensor a7, the power box 3, the laser scanning device 5, the industrial computer 2, and the display 1, and the industrial computer 2 is respectively connected to the display 1, the laser scanning device 5 and the inclination sensor a7 line; the power box 3 is respectively connected to the inclination sensor a7, the laser scanning device 5, the industrial computer 2, and the display 1 through the power line and supplies power, and the power box 3 is a 127V to 24V power supply;

[0042] like Figure 2 As shown, the laser scanning device 5 includes an explosion-proof shell, in which a laser radar 501, a stepper motor driver 502 and an inclination sensor b504 are respectively arranged. A stepper motor 503 for assisting the laser scanning device 5 in adjusting the inclination is arranged on the explosion-proof shell, and the stepper motor 503 is connected to the stepper motor driver 502. A window is arranged at the end cover of the shell of the laser scanning device 5. The window of the laser scanning device 5 is aligned with the rear scraper conveyor 6 and is installed on the rear connecting rod 4 of the hydraulic support and swings with the rear connecting rod 4. The laser scanning device 5 adjusts the relative angle relative to the rear connecting rod 4 of the hydraulic support by controlling the internal stepper motor 503; the laser radar 501 is used to emit infrared laser to the scraper conveyor and receive the reflected laser point cloud, and transmit the received laser point cloud data to the industrial computer 2 through the network port for processing. The laser radar 501, the stepper motor driver 502 and the inclination sensor b504 are respectively connected to the industrial computer 2 through lines;

[0043] The inclination sensor a7 is arranged on the rear link 4 of the hydraulic support at a certain distance from the rotation center of the rear link of the hydraulic support relative to the hydraulic support base. The inclination sensor a7 is used to sense the posture changes of the rear link 4 of the hydraulic support in real time. The inclination sensor b504 is used to sense the posture changes of the laser radar scanning device in real time.

[0044] The industrial computer 2 uses the laser point cloud data sent and received by the laser radar 501 to perform data preprocessing and calculation, and then sends the processing and calculation results to the display 1 for display; receives and analyzes the posture change data sent by the inclination sensor a7 and the inclination sensor b504, and then controls the stepper motor 503 to adjust the inclination of the laser radar scanning device 5 to achieve posture compensation. The model of the laser radar 501 is LMS111, and the model of the inclination sensor a7 and the inclination sensor b504 is SST300 explosion-proof inclination sensor.

[0045] like Figure 4 As shown, a scanning method of a laser scanning device for hydraulic support follow-up self-compensation coal discharge volume, the steps are as follows:

[0046] First, the device is powered on, and the laser radar 501 in the laser scanning device 5 is started to emit infrared laser to the scraper conveyor, and then the reflected laser point cloud data is received, and then the received point cloud data is transmitted to the industrial computer 2 through the network port;

[0047] The industrial computer 2 uses the time-of-flight TOF method to pre-process the received laser point cloud data, and calculates the cross-sectional profile of the coal quantity on the scraper conveyor 6 in real time and continuously through the industrial computer 2, and displays it on the display 1 in real time;

[0048] According to the scanning cross-sectional profile on the display 1, the laser scanning range of the laser radar 501 is adjusted by the industrial computer 2 according to whether the scraper conveyor 6 is within the scanning range of the laser radar 501, so as to ensure that the laser scanning range covers the entire scraper conveyor 6;

[0049] After coal discharge begins, the relative positions of the rear hydraulic support rear link 4, the laser scanning device 5 and the scraper conveyor 6 are calibrated using the inclination sensor a7 and the inclination sensor b504. The industrial computer 2 receives the point cloud data sent by the laser radar 501 and processes it to obtain the height profile of the cross section of the coal load on the scraper conveyor 6.

[0050] According to the coal flow velocity information on the scraper conveyor 6 obtained from the underground machine control center, a digital terrain model is established for grid division, and the actual coal flow on the scraper conveyor is calculated through accumulation, and the result is displayed in real time on the display 1;

[0051] The industrial computer 2 transmits the coal flow rate to the chute master computer in real time. The chute master computer compares the preset coal discharge threshold with the real-time coal discharge. When the coal discharge on the scraper conveyor 6 exceeds the set coal discharge threshold, an alarm is sounded and coal discharge is stopped.

[0052] The industrial computer 2 receives data from the inclination sensor a7 and the inclination sensor b504 in real time, and calculates the angle of the laser scanning device 5 and its compensation angle according to the inclination changes of the inclination sensors a7 and b504 and the relative positions calibrated in advance, through the changes of the inclination sensors a7 and b504 and the relative positions calibrated in advance;

[0053] The industrial computer 2 controls the stepper motor 503 to drive the laser scanning device 5 to rotate according to the calculated compensation angle. The compensation angle is the angle of rotation of the stepper motor, so that it can reach an ideal position to cover the scraper conveyor 6 to achieve compensation of the scanning angle of the laser scanning device 5.

[0054] like Figure 3 As shown, the calculation process of the angle of the laser scanning device 5 and its compensation angle is:

[0055] When the hydraulic support rear link 4 and the laser scanning device 5 are in the initial position 1, the pitch angle calibration β1 of the hydraulic support rear link 4 detected by the inclination sensor a7 and the inclination angle calibration α1 of the laser scanning device 5 detected by the inclination sensor b504 are transmitted to the industrial computer 2 and marked as the initial position 1 corresponding to the pitch angle calibration β1, α1; the vertical angle β1 measured by the inclination sensor b504 inside the laser scanning device 5 and the relative coordinate position of the edge of one side of the scraper conveyor 6 close to the scraper conveyor are calculated by the installation position of the laser scanning device 5 on the rear link 4 and the vertical angle of the inclination sensor a7 and the relative position of the scraper conveyor and the rotation center of the hydraulic support rear link. The calculated scanning lower boundary is clamped by the vertical line of the laser scanning device 5 The sum of the angles α1 is equal to the sum of the vertical angle β2 measured by the tilt sensor b504 after the hydraulic support posture is transformed and the angle α2 between the actual lower boundary of the position 2 scan and the vertical line of the laser scanning device 5. The angle α2 between the actual lower boundary of the position 2 scan and the vertical line of the laser scanning device 5 is calculated according to the formula: α1+β1=α2+β2. At the same time, according to the relative coordinate position of the laser scanning device 5 at position 2 and the edge of the scraper conveyor 6 close to the scraper conveyor, the angle γ between the ideal lower boundary of the position 2 scan and the vertical line of the laser scanning device 5 is calculated. The difference between the angle α2 between the actual lower boundary of the scan and the vertical line of the laser scanning device 5 and the angle γ between the ideal lower boundary of the scan and the vertical line of the laser scanning device 5 is the compensation angle. The direction of the compensation angle is determined according to the positive or negative value change of the tilt sensor a7. The specific formula is as follows:

[0056]

[0057] α2=α1+β1-β2

[0058]

[0059] Compensation angle = α2-γ

[0060] in,

[0061] L1=nm×cos(90°-β1)

[0062] L2=nm×cos(90°-β2)

[0063] H1=h+m×sin(90°-β2)

[0064] H2=nm×sin(90°-β2)

[0065] Wherein: L1 is the horizontal distance between the laser scanning device 5 and the left edge of the scraper conveyor 6 at position 1, L2 is the horizontal distance between the laser scanning device 5 and the left edge of the scraper conveyor 6 at position 2, H1 is the vertical distance between the laser scanning device 5 and the scraper conveyor 6 at position 1, H2 is the vertical distance between the laser scanning device 5 and the scraper conveyor 6 at position 1, h is the vertical distance between the rotation center of the hydraulic support rear link 4 and the scraper conveyor 6, n is the horizontal distance between the rotation center of the hydraulic support rear link 4 and the left edge of the scraper conveyor 6, and m is the distance between the installation position of the laser scanning device 5 on the hydraulic support rear link 4 and the rotation center of the hydraulic support rear link 4.

[0066] The scanning range of the laser scanning device 5 is adjusted and the position is calibrated by irradiating the scanning lower boundary of the laser radar lens 501 on the edge of the scraper conveyor 6 close to the scraper conveyor 6, and adjusting the laser scanning angle according to the inclination change after the posture transformation of the hydraulic support 4, so that the laser scanning angle can cover the entire scraper conveyor 6.

Claims

1. A hydraulic support follow-up self-compensation coal discharge laser scanning device, characterized in that: It comprises an inclination sensor a (7), a power supply box (3), a laser scanning device (5), an industrial computer (2), and a display (1); the industrial computer (2) is respectively connected to the display (1), the laser scanning device (5) and the inclination sensor a (7) by lines; The laser scanning device (5) comprises an explosion-proof shell, wherein a laser radar (501), a stepper motor driver (502) and an inclination sensor b (504) are respectively arranged in the explosion-proof shell, and a stepper motor (503) for assisting the laser scanning device (5) in adjusting the inclination is arranged on the explosion-proof shell, and the stepper motor (503) is connected to the stepper motor driver (502). A window is arranged at the end cover of the shell of the laser scanning device (5), and the window of the laser scanning device (5) is aligned with the rear scraper conveyor (6) and is installed on the rear connecting rod (4) of the hydraulic support and swings along with the rear connecting rod (4) of the hydraulic support. The laser scanning device (5) controls the stepper motor inside the laser scanning device (5) to adjust the inclination. The machine (503) adjusts the relative angle relative to the hydraulic support rear connecting rod (4); the laser radar (501), the stepper motor driver (502) and the tilt sensor b (504) are respectively connected to the industrial control computer (2) through lines; the tilt sensor a (7) is arranged on the hydraulic support rear connecting rod (4), the tilt sensor a (7) is arranged in the middle section of the hydraulic support rear connecting rod (4) and is spaced one end away from the rotation center of the hydraulic support base, the tilt sensor a (7) is used to sense the position change of the hydraulic support rear connecting rod (4) in real time, and the tilt sensor b (504) is used to sense the position change of the laser radar scanning device in real time; The industrial computer (2) uses the laser point cloud data sent and received by the laser radar (501) to perform data preprocessing and calculation, and then sends the processing and calculation results to the display (1) for display; the industrial computer (2) receives and analyzes the posture change data sent by the tilt sensor a (7) and the tilt sensor b (504), and then controls the stepping motor (503) to adjust the tilt angle of the laser radar scanning device (5) to achieve posture compensation.

2. The laser scanning device for the hydraulic support with self-compensation for coal discharge according to claim 1 is characterized in that: When in use, each hydraulic support on the working surface is provided with the hydraulic support follow-up self-compensation coal discharge laser scanning device of the present application, and all the hydraulic support follow-up self-compensation coal discharge laser scanning devices are connected to the main control computer of the chute through lines.

3. The laser scanning device for the hydraulic support with self-compensation for coal discharge according to claim 1 is characterized in that: The power supply box (3) is connected to the inclination sensor a (7), the laser scanning device (5), the industrial computer (2), and the display (1) through power lines and supplies power. The power supply box (3) converts 127V into 24V power.

4. The laser scanning device for the hydraulic support with self-compensation for coal discharge according to claim 1 is characterized in that: The model of the laser mine (501) is LMS111, and the models of the inclination sensor a (7) and the inclination sensor b (504) are SST300 explosion-proof inclination sensors.

5. A scanning method using the laser scanning device for hydraulic support follow-up self-compensation coal discharge volume according to claim 1, characterized in that Here are the steps: First, the device is powered on, and the laser radar (501) in the laser scanning device (5) is started to emit infrared laser to the scraper conveyor, and then the reflected laser point cloud data is received, and then the received point cloud data is transmitted to the industrial computer (2) through the network port; The industrial computer (2) performs data preprocessing on the received laser point cloud data using a time-of-flight TOF method, and calculates and continuously obtains the cross-sectional profile of the coal loading amount of the scraper conveyor (6) in real time through the industrial computer (2), and displays it on the display (1) in real time; According to the scanning cross-sectional profile on the display (1), the laser scanning range of the laser radar (501) is adjusted by the industrial control computer (2) based on whether the scraper conveyor (6) is within the scanning range of the laser radar (501), so as to ensure that the laser scanning range covers the entire scraper conveyor (6); After the coal is discharged, the relative positions of the rear hydraulic support rear connecting rod (4), the laser scanning device (5) and the scraper conveyor (6) are calibrated by using the inclination sensor a (7) and the inclination sensor b (504). The industrial computer (2) receives the point cloud data sent by the laser radar (501) and processes it to obtain the height profile of the cross section of the coal loading amount of the scraper conveyor (6). According to the coal flow velocity information on the scraper conveyor (6) obtained from the underground machine control center, a digital terrain model is established for grid division, and the actual coal flow on the scraper conveyor is calculated through accumulation, and the result is displayed in real time on the display (1); The industrial computer (2) transmits the coal flow rate to the chute master computer in real time. The chute master computer compares the preset coal discharge threshold with the real-time coal discharge. When the coal discharge on the scraper conveyor (6) exceeds the set coal discharge threshold, an alarm is sounded and coal discharge is stopped. The industrial computer (2) receives data from the inclination sensor a (7) and the inclination sensor b (504) in real time, and calculates the angle of the laser scanning device (5) and its compensation angle according to the inclination changes of the inclination sensor a (7) and the inclination sensor b (504) and the relative position calibrated in advance, through the changes of the inclination sensor a (7) and the inclination sensor b (504) and the relative position calibrated in advance; The industrial computer (2) controls the stepper motor (503) to drive the laser scanning device (5) to rotate according to the compensation angle obtained by calculation. The compensation angle is the angle of rotation of the stepper motor, so that the stepper motor reaches an ideal position that can cover the scraper conveyor (6) to achieve compensation of the scanning angle of the laser scanning device (5).

6. The scanning method according to claim 5, characterized in that The calculation process of the angle of the laser scanning device (5) and its compensation angle is as follows: When the hydraulic support rear link (4) and the laser scanning device (5) are in the initial position 1, the pitch angle calibration β1 of the hydraulic support rear link (4) detected by the inclination sensor a (7) and the inclination angle calibration α1 of the laser scanning device (5) detected by the inclination sensor b (504) are transmitted to the industrial control computer (2) and marked as the initial position 1 corresponding to the pitch angle calibration (β1, α1); the vertical angle β1 measured by the inclination sensor b (504) inside the laser scanning device (5) and the relative coordinate position of the edge of the scraper conveyor (6) close to the scraper conveyor are calculated by the installation position of the laser scanning device (5) on the rear link (4) and the vertical angle of the inclination sensor a (7) and the relative position of the scraper conveyor and the rotation center of the hydraulic support rear link. The calculated scanning lower boundary is the same as the laser scanning device. (5) The sum of the vertical angle α1 is equal to the sum of the vertical angle β2 measured by the tilt sensor b (504) after the hydraulic support posture is changed and the vertical angle α2 between the actual lower boundary of the position 2 scan and the vertical angle α2 of the laser scanning device (5). According to the formula: α1+β1=α2+β2, the vertical angle α2 between the actual lower boundary of the position 2 scan and the laser scanning device (5) is calculated. At the same time, according to the relative coordinate position of the laser scanning device (5) at position 2 and the edge of the scraper conveyor (6) close to one side of the scraper conveyor, the vertical angle γ between the ideal lower boundary of the position 2 scan and the laser scanning device (5) is calculated. The difference between the vertical angle α2 between the actual lower boundary of the scan and the laser scanning device (5) and the vertical angle γ between the ideal lower boundary of the scan and the laser scanning device (5) is the compensation angle. The direction of the compensation angle is determined according to the positive or negative change of the value of the tilt sensor a (7). The specific formula is as follows: α2＝α1+β1-β2 Compensation angle = α2-γ in, L1=nm×cos(90°-β1) L2=nm×cos(90°-β2) H1=h+m×sin(90°-β2) H2=nm×sin(90°-β2) Wherein: L1 is the horizontal distance between the laser scanning device (5) and the left edge of the scraper conveyor (6) at position 1, L2 is the horizontal distance between the laser scanning device (5) and the left edge of the scraper conveyor (6) at position 2, H1 is the vertical distance between the laser scanning device (5) and the scraper conveyor (6) at position 1, H2 is the vertical distance between the laser scanning device (5) and the scraper conveyor (6) at position 1, h is the vertical distance between the rotation center of the hydraulic support rear link (4) and the scraper conveyor (6), n is the horizontal distance between the rotation center of the hydraulic support rear link (4) and the left edge of the scraper conveyor (6), and m is the distance between the installation position of the laser scanning device (5) on the hydraulic support rear link (4) and the rotation center of the hydraulic support rear link (4).

7. The scanning method according to claim 6, characterized in that: The scanning range of the laser scanning device (5) is adjusted and the position is calibrated by irradiating the scanning lower boundary of the laser radar (501) lens on the edge of the scraper conveyor (6) close to the scraper conveyor (6), and adjusting the laser scanning angle according to the change in the inclination angle of the hydraulic support rear connecting rod (4) after the posture transformation, so that the laser scanning angle can cover the entire scraper conveyor (6).

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