Scraper conveyor straightening method, electronic device, and storage medium

Abstract

The application discloses a method for straightening a scraper conveyor, an electronic device and a storage medium. The method comprises the following steps: acquiring a scraper conveyor track of the scraper conveyor cutting a coal wall; calculating a comparison result of the scraper conveyor track of the scraper conveyor cutting the coal wall and a reference straight line perpendicular to a working face advancing direction; calculating displacement compensation values of each pushing and pulling point of the scraper conveyor track of the coal wall to be cut this time according to the comparison result of the scraper conveyor track of the coal wall cut last time and the reference straight line; and compensating each pushing and pulling point based on the displacement compensation value of the pushing and pulling point in the coal wall to be cut this time. The application takes the scraper conveyor as a reference, determines the pushing and pulling distance of the hydraulic support of the scraper conveyor after the previous scraper conveyor track, thereby avoiding the accumulation of pushing and pulling errors of the pushing and pulling cylinder in the "pushing and pulling and pulling frame" process, and improving the precision and reliability of the working face straightening.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mines, and particularly relates to a method for straightening a scraper conveyor, an electronic device and a storage medium. BACKGROUND

[0002] Currently, two kinds of straightening methods are commonly used for an automatic fully-mechanized coal mining face. One is a straightening method taking hydraulic supports as a reference, and the other is a straightening method taking a scraper conveyor as a reference. The principle of the straightening method taking the hydraulic supports as the reference is that the hydraulic supports are straightened first, then the scraper conveyor is straightened taking the hydraulic supports as a reference, and finally the coal wall of the working face is straightened to realize the straightening of the working face. The principle of the straightening method taking the scraper conveyor as the reference is that the scraper conveyor is straightened first, then the hydraulic supports and the coal wall of the working face are straightened taking the scraper conveyor as a reference, and thus the straightening of the working face is realized.

[0003] The existing straightening method taking the hydraulic supports as the reference is to straighten the hydraulic supports and the scraper conveyor respectively, and selected fixed hydraulic supports and the scraper conveyor are taken as the straightening references of the hydraulic supports and the scraper conveyor respectively. However, the existing straightening method needs to install a large number of sensors, and there is sensor error accumulation. The straightened hydraulic supports and the scraper conveyor cannot be ensured to be straight and parallel to each other, and cannot be ensured to be perpendicular to the advancing direction of the working face. Therefore, the straightened hydraulic supports and the scraper conveyor may not be orthogonal to the working face. SUMMARY

[0004] Therefore, it is necessary to provide a method for straightening a scraper conveyor, an electronic device and a storage medium in view of the technical problem in the prior art that sensor error accumulation cannot ensure that the advancing direction of the working face is orthogonal to the direction of the recovery roadway.

[0005] The present application provides a method for straightening a scraper conveyor, comprising the following steps.

[0006] Obtaining a scraper conveyor trajectory of the scraper conveyor cutting a coal wall;

[0007] Calculating a comparison result of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and a reference straight line perpendicular to the advancing direction of the working face;

[0008] According to the comparison result of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and the reference straight line, calculating displacement compensation values of each push point of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall;

[0009] In the coal wall cut this time, each push point is compensated based on the displacement compensation value of the push point.

[0010] Further, the calculation of the comparison result of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and the reference straight line perpendicular to the advancing direction of the working face specifically comprises:

[0011] By using the lagging point on the scraper conveyor track of the coal wall cutting, a straight line perpendicular to the working face advance direction and passing through the lagging point is drawn as a reference line, and each coal wall cutting corresponds to a reference line.

[0012] The results of comparing the scraper conveyor trajectory of the scraper conveyor cutting the coal wall with the corresponding reference straight line are calculated.

[0013] Furthermore, the comparison result of the calculated scraper conveyor trajectory cutting the coal face with the corresponding reference straight line specifically includes:

[0014] Calculate the distance between each push point of the scraper conveyor trajectory and the corresponding reference line when the scraper conveyor cuts the coal wall.

[0015] Furthermore, the step of calculating the displacement compensation value of each push point on the scraper conveyor trajectory of the current coal face cutting based on the comparison result between the scraper conveyor trajectory of the previous coal face cutting and the reference straight line specifically includes:

[0016] The j-th coal face cutting is selected as the initial cutting, where j is a natural number greater than or equal to 1;

[0017] If the current coal wall cutting is the (j+2a+1)th cutting, then based on the distance between each push point of the scraper conveyor trajectory of the (j+2a)th cutting coal wall and the reference line corresponding to the (j+2a)th cutting coal wall, calculate the displacement compensation value of each push point of the scraper conveyor trajectory of the (j+2a+1)th cutting coal wall, where a is a natural number greater than or equal to 0.

[0018] If the current coal wall cutting is the (j+2a+2)th cutting, then the displacement compensation value of each push point of the scraper conveyor trajectory of the (j+2a+1)th cutting coal wall is calculated based on the distance between each push point of the scraper conveyor trajectory of the (j+2a+1)th cutting coal wall and the reference straight line corresponding to the (j+2a+1)th cutting coal wall.

[0019] Furthermore, the step of calculating the displacement compensation value of each push point on the scraper conveyor trajectory of the current coal face cutting based on the comparison result between the scraper conveyor trajectory of the previous coal face cutting and the reference straight line specifically includes:

[0020] The j-th coal face cutting is selected as the initial cutting, where j is a natural number greater than or equal to 1;

[0021] If this coal wall cutting is the (j+2a+1)th cutting, then the displacement compensation value Δb of the i-th push point of the scraper conveyor trajectory for the (j+2a+1)th cutting of the coal wall is... i(j+2a+1) =Δd i(j+2a) +ΔT i(j+2a) Where a is a natural number greater than or equal to 0, Δdi(j+2a) Let the i-th push point of the scraper conveyor trajectory of the coal face during the (j+2a)-th cutting be the reference straight line m of the coal face during the (j+2a)-th cutting. j+2a The distance, ΔT i(j+2a) The pushing error of the pushing cylinder at the i-th pushing point of the scraper conveyor trajectory of the coal wall during the (j+2a)-th cutting of the coal wall;

[0022] If this coal wall cutting is the (j+2a+2)th cutting, then the displacement compensation value Δb of the i-th push point of the scraper conveyor trajectory for the (j+2a+2)th cutting of the coal wall is... i(j+2a+2) =Δd i(j+2a+1) +ΔT i(j+2a+1) , where Δd i(j+2a+1) Let the i-th push point of the scraper conveyor trajectory of the (j+2a+1)-th coal wall cut be the reference straight line m of the (j+2a+1)-th coal wall cut. j+2a+1 The distance, ΔT i(j+2a+1) The pushing error of the pushing cylinder at the i-th pushing point of the scraper conveyor trajectory for the j+2a+1th cutting of the coal wall.

[0023] Furthermore, in this coal face cutting process, compensation is performed on each pusher point based on the displacement compensation value of that pusher point, specifically including:

[0024] If this coal face cutting is the (j+2a+1)th cutting, then for the i-th push point, the displacement compensation value Δb of the i-th push point is based on the scraper conveyor trajectory of the coal face cutting in the (j+2a+1)th cutting. i(j+2a+1) Determine the i-th pushing distance of the coal wall in the j+2a+1th cutting, and control the hydraulic support to push the scraper conveyor to the i-th pushing distance of the coal wall in the j+2a+1th cutting at the i-th pushing point;

[0025] If this coal face cutting is the (j+2a+2)th cutting, then for the i-th push point, the displacement compensation value Δb of the i-th push point is based on the scraper conveyor trajectory of the coal face cutting in the (j+2a+1)th cutting. i(j+2a+1) The displacement compensation value Δb of the i-th push point of the scraper conveyor trajectory for the (j+2a+2)-th coal wall cutting is... i(j+2a+2) Determine the i-th pushing distance of the coal wall during the (j+2a+2)-th cutting, and control the hydraulic support to push the scraper conveyor at the i-th pushing point to move the i-th pushing distance of the coal wall during the (j+2a+2)-th cutting.

[0026] Furthermore, in this coal face cutting process, compensation is performed on each pusher point based on the displacement compensation value of that pusher point, specifically including:

[0027] If this coal face cutting is the (j+2a+1)th cutting, then determine the i-th pushing distance T of the coal face cutting in the (j+2a+1)th cutting. i(j+2a+1) =H-Δbi(j+2a+1) , wherein H is a default cutting depth of the coal mining machine, the hydraulic support is controlled to move the scraper conveyor by the i-th pushing distance T of the i-th pushing point on the j+2a+1-th cutting coal wall i(j+2a+1) ;

[0028] If the current cutting coal wall is the j+2a+2-th cutting coal wall, the i-th pushing distance T of the i-th pushing point on the j+2a+2-th cutting coal wall is determined i(j+2a+2) = H-Δb i(j+2a+2) +Δb i(j+2a+1) , the hydraulic support is controlled to move the scraper conveyor by the i-th pushing distance T of the i-th pushing point on the j+2a+2-th cutting coal wall i(j+2a+2) .

[0029] Further, the present application further comprises:

[0030] For the j-th cutting coal wall as the initial time, the hydraulic support is controlled to move the scraper conveyor by the default cutting depth H of the coal mining machine at the i-th pushing point.

[0031] The present application provides an electronic device, comprising:

[0032] at least one processor; and,

[0033] a memory connected in communication with the at least one processor; wherein,

[0034] the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method for straightening the scraper conveyor as described above.

[0035] The present application provides a storage medium, which stores computer instructions, when the computer executes the computer instructions, all steps of the method for straightening the scraper conveyor as described above are executed.

[0036] The present application takes the scraper conveyor as a reference, detects the running track of the coal mining machine by using the coal mining machine positioning technology, and then inverses the spatial form of the scraper conveyor according to the geometric constraint relationship between the coal mining machine and the scraper conveyor, and determines the pushing distance of the hydraulic support of the scraper conveyor thereafter through the track of the scraper conveyor before, thereby avoiding the accumulation of pushing error of the pushing cylinder in the process of "pushing and pulling the support", and improving the accuracy and reliability of the working face straightening. BRIEF DESCRIPTION OF DRAWINGS

[0037] Figure 1 is a work flow chart of the method for straightening the scraper conveyor of the present application;

[0038] Figure 2 is a work flow chart of the method for straightening the scraper conveyor of an embodiment of the present application;

[0039] Figure 3 A process schematic diagram of a straightening method of a scraper conveyor according to an embodiment of the present application;

[0040] Figure 4 A work flow diagram of a straightening method of a scraper conveyor according to the best embodiment of the present application;

[0041] Figure 5 A hardware structure schematic diagram of an electronic device according to the present application. DETAILED DESCRIPTION

[0042] The specific embodiments of the present application are further described below with reference to the accompanying drawings. Identical parts are denoted by identical reference numerals in the drawings. It should be noted that the words "front", "rear", "left", "right", "upper" and "lower" used in the following description refer to the directions in the drawings, and the words "inner" and "outer" refer to the directions towards or away from the geometric center of a particular part.

[0043] Embodiment one

[0044] As Figure 1 shown is a work flow diagram of a straightening method of a scraper conveyor according to the present application, comprising:

[0045] Step S101, obtaining the scraper conveyor trajectory of the scraper conveyor cutting the coal wall;

[0046] Step S102, calculating the comparison result of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and the reference straight line perpendicular to the working face advancing direction;

[0047] Step S103, calculating the displacement compensation value of each push point of the scraper conveyor trajectory of the coal wall cut this time according to the comparison result of the scraper conveyor trajectory of the coal wall cut last time and the reference straight line;

[0048] Step S104, in the coal wall cut this time, compensating each push point based on the displacement compensation value of the push point.

[0049] Specifically, step S101 is performed, the running trajectory of the coal mining machine is detected by using the coal mining machine positioning technology, and then the spatial form of the scraper conveyor is inversely calculated according to the geometric constraint relationship between the coal mining machine and the scraper conveyor. The existing inverse algorithm can be used to inversely calculate the spatial form of the scraper conveyor by using the running trajectory of the coal mining machine. Then in step S102, the comparison result of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and the reference straight line perpendicular to the working face advancing direction is calculated. The comparison result can be the distance between multiple points on the scraper conveyor trajectory and the reference straight line. For example, Figure 3As shown, the shearer positioning method takes northeast sky as the reference coordinate system, so the reference coordinate system of the measured track of the scraper conveyor is also the northeast sky coordinate system. The scraper conveyor moves in a two-dimensional plane, and in order to simplify the calculation, the measured track of the scraper conveyor is projected to the northeast coordinate system. The angle between the working face advancing direction and the east direction is Φ, so the direction of the reference straight line can be determined according to the angle Φ.

[0050] Then, in step S103, displacement compensation values of each pushing point of the track of the scraper conveyor in the current cutting coal wall are calculated according to the comparison result of the track of the scraper conveyor in the previous cutting coal wall and the reference straight line. The scraper conveyor will cut the coal wall for multiple times, and each complete cutting of the coal wall is one cut. The previous cutting of the coal wall can be the previous cutting or multiple previous cuttings.

[0051] Finally, in step S104, for each pushing point in the current cutting coal wall, the displacement compensation value of the pushing point is compensated.

[0052] The present application takes the scraper conveyor as the reference, detects the running track of the shearer by using the shearer positioning technology, inverses the spatial form of the scraper conveyor according to the geometric constraint relationship between the shearer and the scraper conveyor, and determines the moving distance of the hydraulic support of the scraper conveyor after the track of the scraper conveyor, so as to avoid the accumulation of the pushing error of the pushing cylinder in the process of "pushing and pulling the support", and improve the accuracy and reliability of the working face straightening.

[0053] Embodiment two

[0054] As Figure 2 The working flow chart of the straightening method of the scraper conveyor in one embodiment of the present application is shown, which comprises:

[0055] In step S201, the track of the scraper conveyor in the cutting coal wall is obtained.

[0056] In step S202, a straight line perpendicular to the working face advancing direction and passing through the most lagging point on the track of the scraper conveyor in the cutting coal wall is made as a reference straight line, and each cutting coal wall corresponds to a reference straight line.

[0057] In step S203, the comparison result of the track of the scraper conveyor in the cutting coal wall and the corresponding reference straight line is calculated.

[0058] In one embodiment, the calculation of the comparison result of the track of the scraper conveyor in the cutting coal wall and the corresponding reference straight line specifically comprises:

[0059] The distances between each pushing point of the track of the scraper conveyor in the cutting coal wall and the corresponding reference straight line are calculated.

[0060] Step S204, selecting the jth cutting coal wall as the initial time, wherein j is a natural number greater than or equal to 1.

[0061] In one embodiment, for the jth cutting coal wall as the initial time, the hydraulic support is controlled to push the scraper conveyor at the ith push point to the default cutting depth H of the coal mining machine.

[0062] Step S205, if the current cutting coal wall is the j+2a+1th, the displacement compensation value of each push point of the scraper conveyor trajectory of the j+2a+1th cutting coal wall is calculated according to the distance between each push point of the scraper conveyor trajectory of the j+2ath cutting coal wall and the reference straight line corresponding to the j+2ath cutting coal wall, wherein a is a natural number greater than or equal to 0.

[0063] Step S206, if the current cutting coal wall is the j+2a+2th, the displacement compensation value of each push point of the scraper conveyor trajectory of the j+2a+2th cutting coal wall is calculated according to the distance between each push point of the scraper conveyor trajectory of the j+2a+1th cutting coal wall and the reference straight line corresponding to the j+2a+1th cutting coal wall.

[0064] In one embodiment, the displacement compensation value of each push point of the scraper conveyor trajectory of the current cutting coal wall is calculated according to the comparison result of the scraper conveyor trajectory of the previous cutting coal wall of the scraper conveyor and the reference straight line, which specifically includes:

[0065] Step S204, selecting the jth cutting coal wall as the initial time, wherein j is a natural number greater than or equal to 1.

[0066] If the current cutting coal wall is the j+2a+1th, the displacement compensation value Δb i(j+2a+1) of the ith push point of the scraper conveyor trajectory of the j+2a+1th cutting coal wall is i(j+2a) Δd i(j+2a) + ΔT i(j+2a) , wherein a is a natural number greater than or equal to 0, Δd j+2a is the distance between the ith push point of the scraper conveyor trajectory of the j+2ath cutting coal wall and the reference straight line m i(j+2a) of the j+2ath cutting coal wall, and ΔT

[0067] If the current cutting coal wall is the j+2a+2th, the displacement compensation value Δb i(j+2a+2) of the ith push point of the scraper conveyor trajectory of the j+2a+2th cutting coal wall is i(j+2a+1) Δd i(j+2a+1) + ΔT i(j+2a+1)Let the i-th push point of the scraper conveyor trajectory of the (j+2a+1)-th coal wall cut be the reference straight line m of the (j+2a+1)-th coal wall cut. j+2a+1 The distance, ΔT i(j+2a+1) The pushing error of the pushing cylinder at the i-th pushing point of the scraper conveyor trajectory for the j+2a+1th cutting of the coal wall.

[0068] Step S207: If this coal wall cutting is the (j+2a+1)th cutting, then for the i-th push point, the displacement compensation value Δb of the i-th push point is based on the scraper conveyor trajectory of the coal wall cutting in the (j+2a+1)th cutting. i(j+2a+1) Determine the i-th pushing distance of the coal wall in the (j+2a+1)-th cutting, and control the hydraulic support to push the scraper conveyor at the i-th pushing point to move the i-th pushing distance of the coal wall in the (j+2a+1)-th cutting.

[0069] Step S208: If the current coal wall cutting is the (j+2a+2)th cutting, then for the i-th push point, the displacement compensation value Δb of the i-th push point is based on the scraper conveyor trajectory of the coal wall cutting in the (j+2a+1)th cutting. i(j+2a+1) The displacement compensation value Δb of the i-th push point of the scraper conveyor trajectory for the (j+2a+2)-th coal wall cutting is... i(j+2a+2) Determine the i-th pushing distance of the coal wall during the (j+2a+2)-th cutting, and control the hydraulic support to push the scraper conveyor at the i-th pushing point to move the i-th pushing distance of the coal wall during the (j+2a+2)-th cutting.

[0070] In one embodiment, the compensation for each push point based on the displacement compensation value of that push point during the current coal wall cutting specifically includes:

[0071] If this coal face cutting is the (j+2a+1)th cutting, then determine the i-th pushing distance T of the coal face cutting in the (j+2a+1)th cutting. i(j+2a+1) =H-Δb i(j+2a+1) Where H is the default cutting depth of the coal mining machine, and T is the distance T that the hydraulic support pushes the scraper conveyor at the i-th pushing point of the j+2a+1th cutting of the coal wall. i(j+2a+1) ;

[0072] If this coal face cutting is the (j+2a+2)th cutting, then determine the i-th push distance T of the coal face cutting in the (j+2a+2)th cutting. i(j+2a+2) =H-Δb i(j+2a+2) +Δb i(j+2a+1) The hydraulic support is controlled to push the scraper conveyor at the i-th push point, moving the scraper conveyor a distance T at the j+2a+2th cutting coal face. i(j+2a+2) .

[0073] Specifically, in step S201, the operating trajectory of the coal mining machine is detected using coal mining machine positioning technology. Then, based on the geometric constraints between the coal mining machine and the scraper conveyor, the spatial shape of the scraper conveyor is derived from the coal mining machine's operating trajectory, resulting in the scraper conveyor trajectory for cutting the coal face. During scraper conveyor straightening, one scraper conveyor trajectory is obtained each time the coal face is cut. Then, in step S202, a reference line is drawn perpendicular to the working face's advancing direction and passes through the most lagging point on the scraper conveyor trajectory for cutting the coal face. Each coal face cut corresponds to one reference line.

[0074] Specifically, the reference line is a straight line passing through the lagging point and perpendicular to the working face's advancing direction. Therefore, the lagging point lies on a straight line perpendicular to the working face's advancing direction. In the coordinate system, the working face's advancing direction makes an angle with the X (east) direction. Therefore, the coordinate transformation of the scraper conveyor trajectory can be performed based on this angle, resulting in the working face's advancing direction being perpendicular to the X (east) direction. The straight line perpendicular to the working face's advancing direction is then parallel to the east direction. By calculating the minimum value of the Y-coordinate of the push point on the scraper conveyor trajectory using the minimum value formula, the corresponding point is the lagging point. After determining the lagging point, an inverse coordinate transformation can be performed again to obtain the coordinates of the lagging point in the original coordinate system. Based on the transformed coordinates, a straight line passing through the lagging point and perpendicular to the working face's advancing direction is drawn as the reference line.

[0075] Next, execute step S203 to calculate the comparison result between the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and the corresponding reference line. The comparison result is the distance between each push point of the scraper conveyor trajectory of the scraper conveyor cutting the coal wall and the corresponding reference line.

[0076] like Figure 3 As shown, for the (n-1)th time the scraper conveyor trajectory L is detected... n-1 The measured scraper conveyor trajectory L n-1 The lagging point D n-1 Draw a reference line m perpendicular to the working surface. n-1 By comparing trajectory L n-1 With line m n-1 Calculate the trajectory L n-1 Each push point and the reference line m n-1 Distance Δd n-1 .

[0077] Then, steps S204 to S206 are performed to calculate the displacement compensation value of each push point on the scraper conveyor trajectory. Finally, steps S207 to S208 are performed to compensate each push point based on its displacement compensation value.

[0078] In step S204, the j-th coal face cutting is selected as the initial cutting. The coal face cutting after receiving the straightening request can be used as the initial cutting. For the initial cutting, the hydraulic support is controlled to push the scraper conveyor at the i-th push point, moving the coal mining machine to the default cutting depth H.

[0079] After the initial coal face cutting, for the (j+1)th cutting, the method for each push-conveyor point is compensated using the formula j+2a+1; for the (j+2)th cutting, the method is j+2a+2. For the (j+3)th cutting, where a = 1, the method is j+2a+1. Similarly, for the (j+4)th cutting, where a = 1, the method is j+2a+2.

[0080] Preferably, straightening can be performed in three or four-blade cycles, using the scraper conveyor trajectory of the first two cuts as input parameters to determine the pushing distance of the hydraulic support of each scraper conveyor section in the subsequent two cuts.

[0081] like Figure 3 The diagram shown illustrates the straightening process of the scraper conveyor on the working face in the northeast coordinate system. In the diagram: subscript i represents the support number, and j represents the j-th cut (time). Wherein:

[0082] L j Measuring the trajectory of the scraper conveyor for the coal mining machine positioning system;

[0083] m j This is a reference line perpendicular to the working surface;

[0084] Δd ij This is the distance between the sliding point and the reference line;

[0085] Δb ij This is the displacement compensation value at the push point;

[0086] T' ij The actual pushing distance at the pushing point;

[0087] ΔT ij The pushing error of the hydraulic cylinder;

[0088] H represents the default cutting depth of the coal mining machine.

[0089] The coal mining machine positioning method uses the northeast-central coordinate system as the reference coordinate system; therefore, the reference coordinate system for the measurement trajectory of the scraper conveyor is also the northeast-central coordinate system. The scraper conveyor moves in a two-dimensional plane; to simplify calculations, the measured scraper conveyor trajectory is projected onto the northeast coordinate system. The angle between the working face advancing direction and the east direction is Φ, and the trajectory is L. n-1This represents the shape of the scraper conveyor measured during the (n-1)th coal face cutting by the coal mining machine. The (n-1)th coal face cutting is selected as the initial cutting, i.e., j = n-1. When the coal mining machine performs the (n-1)th complete cutting along the direction from A to B, the hydraulic support pushes the scraper conveyor by a default pushing distance H, i.e., the pushing distance T at the i-th pushing point. i(n-1) =H. However, during the shifting process, there is a shifting error ΔT in the hydraulic cylinder. i(n-1) Therefore, the actual pushing distance T' of the i-th pushing point i(n-1) =H+ΔT i(n-1) For example, for the second push point, the hydraulic support pushes the scraper conveyor according to the default pushing distance H, but the actual pushing distance T' 2(n-1) =H+ΔT 2(n-1) At this time, the coal mining machine is located on the scraper conveyor track L. n At point C, the scraper conveyor trajectory L was detected. n-1 The measured scraper conveyor trajectory L n-1 The lagging point D n-1 Draw a reference line m perpendicular to the working surface. n-1 By comparing trajectory L n-1 With reference line m n-1 Calculate the trajectory L n-1 Each push point and the reference line m n-1 Distance Δd i(n-1) Then, for each push point of the coal face during the nth cutting, the displacement compensation value Δb in =Δd i(n-1) +ΔT i(n-1) .

[0090] Therefore, when the coal mining machine performs n complete cuts along the direction from C to D, the distance T that the hydraulic support moves at the i-th push point is... in =H-Δb in =H-(Δd) i(n-1) +ΔT i(n-1) However, due to the slippage error ΔT during the shifting process... in Therefore, the actual pushing distance T' of the i-th pushing point is in =H-Δb in +ΔT in For example, for the second push point, the actual push distance T' 2n =H-Δb 2n +ΔT 2n .

[0091] At this time, the coal mining machine is located on the scraper conveyor track L. n+1 At point E, the scraper conveyor trajectory L was detected. n Similarly, by measuring the scraper conveyor trajectory L...n the uppermost lag point D n , a reference straight line m n perpendicular to the working face direction is drawn n , the distance Δd n of each push point of the track L n from the reference straight line m n is calculated in . Then the displacement compensation value Δb i(n+1) of each push point of the n+1th cutting coal wall is Δd in + ΔT in .

[0092] Therefore, when the coal mining machine moves in the direction of E to F to make the n+1th complete cutting, the hydraulic support moving distance of the ith push point is:

[0093] T i(n+1) = H - Δb i(n+1) + Δb in = H - (Δd in + ΔT in ) + (Δd i(n-1) + ΔT i(n-1) ).

[0094] Since there is a push error ΔT i(n+1) during the moving process, the actual push distance T' i(n+1) of the ith push point is T' i(n+1) = H - Δb i(n+1) + ΔT in + Δb 2(n+1) . For example, the actual push distance T' 2(n+1) of the second push point is T' 2(n+1) = H - Δb 2n + ΔT n+2 + Δb n+1 .

[0095] At this time, the position of the coal mining machine is located at the G point of the track L n+1 of the scraper conveyor, the track L n+1 of the scraper conveyor is detected, a reference straight line m n+1 perpendicular to the working face direction is drawn through the uppermost lag point D n+1 of the track L n+1 of the scraper conveyor, the distance Δd n+1 of each push point of the track L n+1 from the reference straight line m n+1 is calculated. Thus the displacement compensation value of each push point of the n+2th cutting coal wall is calculated, and the compensation is made when moving from the point G to the point H.

[0096] Wherein, the pushing and pulling error can adopt the existing error calculation method. For example, the maximum error generated by the average value μ of the pushing and pulling error of the working face hydraulic support and each pushing and pulling point can be taken as the value interval of the normal distribution according to the normal distribution rule. Therefore, the maximum error is Or Thus, the standard deviation σ is inferred as the pushing and pulling error of the pushing and pulling point.

[0097] For the j+2a+1th pushing and pulling, the j+2ath trajectory has been obtained at this time, but the j+2a+1th trajectory is unknown at this time, and the compensation is performed based on the displacement compensation value of the j+2ath. At the j+2a+2th pushing and pulling, the j+2a+1th trajectory has been obtained at this time, and the j+2a+2th trajectory is unknown at this time, and the displacement compensation value of the j+2a+1th is compensated. However, since the displacement compensation value of the j+2ath trajectory has been compensated at the j+2a+1th pushing and pulling, the compensation value of the j+2ath is subtracted at the j+2a+2th pushing and pulling to avoid repeated compensation.

[0098] The embodiment takes the scraper conveyor as the reference, and proposes a straightening research method of the scraper conveyor based on the positioning technology of the coal mining machine. According to the method, the pushing and pulling distance of each section of the hydraulic support of the scraper conveyor can be determined to ensure the straightness error of the scraper conveyor. The embodiment improves the straightening precision of the working face and has the advantages of no error accumulation, that is, the influence of the error accumulation of the sensing element is eliminated, and the straightening direction can be ensured to be parallel to the direction of the working face each time.

[0099] As shown in Figure 4 The working flowchart of the straightening method of the scraper conveyor is shown in the best embodiment of the application, which comprises:

[0100] Step S401, if the coal mining machine completes the jth cutting, step S402 is performed, otherwise the hydraulic support adopts the default pushing and pulling distance H;

[0101] Step S402, generating the trajectory of the scraper conveyor;

[0102] Step S403, calculating the pushing and pulling point displacement compensation distance Δb of the j+1th cutting i(j+1) , wherein Δb i(j+1) = Δd ij + ΔT ij , wherein Δd ij is the distance between the i th pushing and pulling point of the jth cutting coal wall trajectory of the scraper conveyor and the reference straight line m j of the jth cutting coal wall, and ΔT ij ​​The push error of the push cylinder of the i-th push point of the scraper conveyor track of the j-th cutting coal wall is calculated, and when the distance calculation is completed, step S404 is performed;

[0103] In step S404, the coal mining machine starts the j+1th cutting, and the support push distance T i(j+1) = H-Δb i(j+1) ;

[0104] In step S405, when the coal mining machine completes the j+1th cutting, the scraper conveyor track is generated;

[0105] In step S406, the push point displacement compensation distance Δb i(j+2) of the j+2th cutting is calculated i(j+2) , wherein Δb i(j+1) = Δd i(j+1) + ΔT i(j+1) , Δd j+1 is the distance between the i-th push point of the scraper conveyor track of the j+1th cutting coal wall and the reference straight line m i(j+1) of the j+1th cutting coal wall, and ΔT i(j+2) is the push error of the push cylinder of the i-th push point of the scraper conveyor track of the j+1th cutting coal wall, and when the distance calculation is completed, step S407 is performed;

[0106] In step S407, the coal mining machine starts the j+2th cutting, and the support push distance T i(j+2) = H-Δb i(j+1) + Δb ;

[0107] In step S408, when the coal mining machine completes the j+2th cutting, the scraper conveyor estimation is generated;

[0108] In step S409, the j+3th cutting push point displacement compensation distance Δb i(j+3) is calculated, and when the distance calculation is completed, step S410 is performed;

[0109] In step S410, j is set to j+2, and step S404 is performed.

[0110] Taking j=1 as the starting value as an example:

[0111] (1) The coal mining machine is in the first cutting, j=1, and the push distance T i1 = H, and the scraper conveyor track L1 is recorded;

[0112] (2) After the coal mining machine completes the first cutting, the first cutting scraper conveyor track is detected, the most lagging point in the working face advancing direction is found, a vertical line to the working face reference straight line m1 is drawn through the point, and L1 and m1 are compared to calculate the push point push displacement compensation value Δb i2 of the second cutting i1+ ΔT i1 ;

[0113] (3) The coal mining machine is in the second cutter cutting, j = 2, and the pushing distance T i2 = H- Δb i2 , and the scraper conveyor track L2 is recorded.

[0114] (4) The step (2) is repeated to obtain the pushing displacement compensation value Δb of the pushing point of the third cutter i3 = Δd i2 + ΔT i2 ;

[0115] (5) The coal mining machine is in the third cutter cutting, j = 3, and the pushing distance T i3 = H+ Δb i3 - Δb i2 , and the scraper conveyor track L3 is recorded.

[0116] (6) The step (2) is repeated to obtain the pushing displacement compensation value Δbi4 of the pushing point of the fourth cutter.

[0117] (7) The steps (3), (4), (5) and (6) are repeated.

[0118] (8) The cycle is continued.

[0119] Example Three

[0120] As Figure 5 shown in the hardware structure schematic diagram of the electronic equipment, comprising:

[0121] at least one processor 501; and,

[0122] a memory 502 in communication connection with the at least one processor 501; wherein,

[0123] the memory 502 stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the straightening method of the scraper conveyor as described above.

[0124] Figure 5 The processor 501 is taken as an example in the foregoing.

[0125] The electronic equipment can further include an input device 503 and a display device 504.

[0126] The processor 501, the memory 502, the input device 503 and the display device 504 can be connected through a bus or other means, and the connection through the bus is taken as an example in the figure.

[0127] The memory 502, as a non-volatile computer readable storage medium, can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as the program instructions / modules corresponding to the apron conveyor straightening method in the embodiments of the present application, for example, the method flow shown in FIG. 8. Figure 1 , Figure 2 The processor 501 executes various function applications and data processing by running the non-volatile software programs, instructions and modules stored in the memory 502, that is, implements the apron conveyor straightening method in the above embodiments.

[0128] The memory 502 can include a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; the data storage area can store data created according to the use of the apron conveyor straightening method, etc. In addition, the memory 502 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 502 can optionally include a memory remotely arranged with respect to the processor 501, and these remote memories can be connected to the device executing the apron conveyor straightening method through a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof.

[0129] The input device 503 can receive input user clicks and generate signal inputs related to user settings and function controls of the apron conveyor straightening method. The display device 504 can include a display screen and other display equipment.

[0130] When the one or more modules are stored in the memory 502 and are run by the one or more processors 501, the apron conveyor straightening method in any of the above method embodiments is executed.

[0131] The present application takes the apron conveyor as the benchmark, detects the running track of the coal mining machine by using the coal mining machine positioning technology, then inverses the spatial form of the apron conveyor according to the geometric constraint relationship between the coal mining machine and the apron conveyor, and determines the pushing distance of the hydraulic support of the apron conveyor after the apron conveyor track, so as to avoid the accumulation of the pushing error of the pushing cylinder in the "pushing and pulling support" process, and improve the precision and reliability of the working face straightening.

[0132] An embodiment of the present application provides a storage medium, which stores computer instructions, when a computer executes the computer instructions, all steps of the apron conveyor straightening method as described above are executed.

[0133] The above embodiments only express several implementation manners of the present application, and the description is more specific and detailed, but it should not be understood as a limitation on the patent scope of the present application. It should be noted that for ordinary skilled persons in the art, without departing from the concept of the present application, several modifications and improvements can be made, which are all within the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A method of straightening a flight of an apron conveyor, characterized in that The method comprises: acquiring a scraper conveyor track of a coal wall cut by a scraper conveyor; calculating a comparison result of the scraper conveyor track of the coal wall cut by the scraper conveyor and a reference straight line perpendicular to a working face advancing direction; calculating a displacement compensation value of each push point of the scraper conveyor track of the coal wall cut this time according to the comparison result of the scraper conveyor track of the coal wall cut last time and the reference straight line, specifically comprising: selecting the coal wall cut for the jth time as an initial time, where j is a natural number greater than or equal to 1; If the current cutting coal wall is the j+2a+1th, the displacement compensation value of each pushing and slipping point of the scraper conveyor track of the j+2a+1th cutting coal wall is calculated according to the distance between each pushing and slipping point of the scraper conveyor track of the j+2ath cutting coal wall and the reference straight line corresponding to the j+2ath cutting coal wall, and the displacement compensation value of the ith pushing and slipping point is: Δb i(j+2a+1) = Δd i(j+2a) + ΔT i(j+2a) , where a is a natural number greater than or equal to 0, Δd i(j+2a) is the distance between the ith pushing and slipping point of the scraper conveyor track of the j+2a th cutting coal wall and the reference straight line m j+2a of the j+2a th cutting coal wall, and ΔT i(j+2a) is the pushing and slipping error of the pushing and slipping cylinder of the ith pushing and slipping point of the scraper conveyor track of the j+2a th cutting coal wall. If the current cutting coal wall is the j+2a+2th, the displacement compensation value of each pushing and releasing point of the scraper conveyor track of the j+2a+2th cutting coal wall is calculated according to the distance between each pushing and releasing point of the scraper conveyor track of the j+2a+1th cutting coal wall and the reference straight line corresponding to the j+2a+1th cutting coal wall, and the displacement compensation value of the i th pushing and releasing point is: Δb i(j+2a+2) = Δd i(j+2a+1) + ΔT i(j+2a+1) , wherein Δd i(j+2a+1) is the distance between the i th pushing and releasing point of the scraper conveyor track of the j+2a+1th cutting coal wall and the reference straight line m j+2a+1 of the j+2a+1th cutting coal wall, and ΔT i(j+2a+1) is the pushing and releasing error of the pushing and releasing cylinder of the i th pushing and releasing point of the scraper conveyor track of the j+2a+1th cutting coal wall. in the coal wall cut this time, compensating each push point based on the displacement compensation value of the push point, specifically comprising: If the current cutting coal wall is the j+2a+1th time, the displacement compensation value Δb of the i-th push and roll point based on the i-th push and roll point of the scraper conveyor track of the j+2a+1th cutting coal wall is determined i(j+2a+1) , and the i-th push and roll distance of the j+2a+1th cutting coal wall is determined as T i(j+2a+1) =H-Δb i(j+2a+1) , wherein H is the default cutting depth of the coal mining machine, and the hydraulic support controls the i-th push and roll distance T i(j+2a+1) of the j+2a+1th cutting coal wall of the i-th push and roll point of the scraper conveyor. If the current cutting coal wall is the j+2a+2th time, the displacement compensation value Δb of the i-th push-pulling point of the scraper conveyor track based on the j+2a+1th cutting coal wall is determined for the i-th push-pulling point i(j+2a+1) and the displacement compensation value Δb of the i-th push-pulling point of the scraper conveyor track of the j+2a+2th cutting coal wall i(j+2a+2) , the i-th push-pulling distance of the j+2a+2th cutting coal wall is determined as: T i(j+2a+2) = H- Δb i(j+2a+2) + Δb i(j+2a+1) , the hydraulic support is controlled to push the scraper conveyor to move the i-th push-pulling distance T of the j+2a+2th cutting coal wall at the i-th push-pulling point i(j+2a+2) .

2. The flight bar straightening method of claim 1, wherein, The calculation of the comparison result of the scraper conveyor track of the coal wall cut by the scraper conveyor and the reference straight line perpendicular to the working face advancing direction specifically comprises: a straight line perpendicular to the working face advancing direction and passing through the most lagging point on the scraper conveyor track of the coal wall cut is drawn as a reference straight line, and each coal wall cut corresponds to a reference straight line; the comparison result of the scraper conveyor track of the coal wall cut by the scraper conveyor and the corresponding reference straight line is calculated.

3. The flight bar straightening method of claim 2, wherein, The calculation of the comparison result of the scraper conveyor track of the coal wall cut by the scraper conveyor and the corresponding reference straight line specifically comprises: the distance between each push point of the scraper conveyor track of the coal wall cut by the scraper conveyor and the corresponding reference straight line is calculated.

4. The flight bar straightening method of claim 1, wherein, Further comprising: for the coal wall cut for the jth time as the initial time, controlling the hydraulic support to push the scraper conveyor at the ith push point to a default cutting depth H.

5. An electronic device, comprising: Comprise: at least one processor; and a memory in communication connection with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the straightening method of the scraper conveyor according to any one of claims 1 to 4.

6. A storage medium, characterized by The storage medium stores computer instructions, and when the computer executes the computer instructions, all steps of the straightening method of the scraper conveyor according to any one of claims 1 to 4 are executed.

Images