Contour mining system and contour mining method

Abstract

The present invention discloses a contour mining system and a contour mining method, wherein the contour mining system comprises a server, a hydraulic support, a contour mining device and a control module, wherein the server is used to receive data, analyze data and issue instructions, the hydraulic support is used to support a roof, a slide adjustment component is provided on the hydraulic support, the contour mining device is connected to the hydraulic support, the contour mining device is used for coal mining, the slide adjustment component is connected to the contour mining device, and the control module is used to control the hydraulic support and the contour mining device according to instructions issued by the server, and to control the slide adjustment component to adjust the elevation angle of the contour mining device. The contour mining system of the embodiment of the present invention realizes precise control of the elevation angle of the contour mining device, changes the current situation that the contour mining device can only mine coal seams with little thickness variation, and improves the application scope of the contour mining device.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to a contour mining system and a contour mining method. Background Art

[0002] Among the intelligent mining technologies of fully mechanized coal mining face, the autonomous planning and cutting of coal mining machines based on transparent geology is an important technology for intelligent mining of coal mining machines. Its core is to build a geological model of the fully mechanized coal mining face through ground survey data. After the big data center obtains data such as geological model slices, it makes comprehensive analysis and decisions, calculates the subsequent coal mining machine cutting template, guides the adaptive height adjustment of the coal mining machine drum, and finally realizes the autonomous planning and cutting of the coal mining machine.

[0003] Contour shearer refers to a shearer that is inconvenient to raise the left and right rollers when it is towed in the working face, and keeps the mining height unchanged during cutting. Contour shearer has the characteristics of short body, good coal loading effect, large cutting capacity, etc. It is a short body chain-driven thin coal seam shearer that combines the advantages of coal planer and conventional coal shearer. It is mainly used for mining thin coal seam working faces with a mining height of 1.1 to 1.7m where the thickness of the coal seam does not change much.

[0004] In the related technology, there is only an autonomous planning and cutting control method for a drum coal mining machine with a rocker arm, while the autonomous planning and cutting control method for a contour coal mining machine suitable for thin coal seam working faces is still blank. Summary of the invention

[0005] The present invention aims to solve one of the technical problems in the related art at least to a certain extent. To this end, an embodiment of the present invention provides a contour mining system that can accurately control the elevation angle of contour mining equipment.

[0006] The embodiment of the present invention also provides a contour mining method.

[0007] The contour mining system of an embodiment of the present invention includes a server, a hydraulic support, a contour mining device and a control module, wherein the server is used to receive data, analyze data and issue instructions, the hydraulic support is used to support the roof, the hydraulic support is provided with a slide adjustment component, the contour mining device is connected to the hydraulic support, the contour mining device is used for coal mining, the slide adjustment component is connected to the contour mining device, and the control module is used to control the hydraulic support and the contour mining device according to the instructions issued by the server, and control the slide adjustment component to adjust the pitch angle of the contour mining device.

[0008] The contour mining system of the embodiment of the present invention can predict the cutting trajectory of the contour mining equipment through the server, and use the control module to control the movement of the contour mining equipment and the hydraulic support. During the movement of the contour mining equipment and the hydraulic support, real-time adjustments can be made to the actual mining height to achieve precise control of the pitch angles of the contour mining equipment during the contour mining process, thus changing the current situation that the contour mining equipment can only mine coal seams with little thickness variation, and improving the scope of application of the contour mining equipment.

[0009] In some embodiments, the contour mining equipment includes a scraper conveyor and a coal mining machine, the scraper conveyor is connected to the hydraulic support, and the coal mining machine is movably arranged on the scraper conveyor.

[0010] In some embodiments, the adjustment assembly includes a pushing frame and an adjusting jack, the pushing frame is connected to the scraper conveyor, one end of the adjusting jack is connected to the pushing frame, and the other end of the adjusting jack is connected to the scraper conveyor, and the adjusting jack is used to adjust the pitch angle of the scraper conveyor.

[0011] In some embodiments, the contour mining equipment further comprises an inclination measuring device, and the inclination measuring device is disposed on the scraper conveyor, and the inclination measuring device is used to measure the pitch angle of the scraper conveyor.

[0012] In some embodiments, the slide adjustment assembly further includes a stroke measuring device, and the stroke measuring device is disposed on the slide adjustment jack, and the stroke measuring device is used to measure the stroke of the slide adjustment jack.

[0013] In some embodiments, the server is located on the ground or underground, and the server includes:

[0014] A host computer, which is connected to the control module and is used to receive and store data uploaded by the control module and analyze the data, and then issue instructions to the control module according to the analysis results;

[0015] A display is connected to the host computer.

[0016] In some embodiments, the control module includes a first controller, a second controller and a third controller, the first controller is connected to the hydraulic support, the second controller is connected to the scraper conveyor, and the third controller is connected to the coal mining machine.

[0017] The contour mining method of the second embodiment of the present invention comprises:

[0018] S101: The server predicts the future n mining height adjustment amounts of the hydraulic support through the geological three-dimensional model data, and simultaneously obtains the top and bottom plate lines of the equal-height mining equipment with n cutters for smooth advancement;

[0019] S102: the contour mining equipment cuts the first coal, and the control module controls the hydraulic support to move along the predicted roof and floor lines;

[0020] S103: before and / or during the hydraulic support frame movement, the server analyzes and obtains a target stroke value of the adjusting jack and sends a command to the control module, and the control module controls the adjustment jack to move until the target stroke value is reached, thereby adjusting the mining height of the hydraulic support;

[0021] S104: the server re-predicts the future mining height adjustment amount of the second to nth cuttings of the hydraulic support according to the actual mining height of the first cutting, and simultaneously obtains the smooth advancement top and bottom plate lines of the second to nth cuttings of the equal height mining equipment;

[0022] S105: The contour mining equipment cuts the second piece of coal, and steps S102, S103, S104, and S101 are repeated until the nth piece of coal is cut and mining is completed.

[0023] In some embodiments, the method for the server to analyze and obtain the stroke target value of the adjustment jack includes:

[0024] S201: The server obtains that the future n mining height adjustment values ​​of the hydraulic support are P1, P2, P3, ..., Pn respectively;

[0025] S202: After the contour mining equipment cuts the first coal, the actual adjustment amount of the hydraulic support is M1. The server compares P1 with M1. The server analyzes the adjustment error between the theoretical adjustment amount P1 and the actual adjustment amount M1 and obtains the mining height adjustment amounts corresponding to the hydraulic support, which are P2', P3', ..., Pn' respectively;

[0026] S203: The server obtains the pitch angle α of the contour mining equipment and the stroke L of the adjusting jack, and analyzes and calculates the data in combination with the mining height adjustment amount P2' of the hydraulic support, obtains the current stroke target value of the adjusting jack and issues a command to the control module;

[0027] S204: the control module controls the adjustment jack to move until the stroke target value is reached;

[0028] S205: After the contour mining equipment cuts the second piece of coal, the actual adjustment amount of the hydraulic support is M2. The server compares P2' with M2. The server analyzes the adjustment error between the theoretical adjustment amount P2' and the actual adjustment amount M2, and obtains the corresponding mining height adjustment amount of the hydraulic support, which are P3", P4", ..., Pn", respectively. Repeat steps S202 to S204 until mining is completed.

[0029] In some embodiments, the method for the server to obtain the pitch angle α of the contour mining equipment is: measuring the pitch angle α of the contour mining equipment by an inclination measuring device provided on a scraper conveyor, and uploading the measurement data of the pitch angle α of the contour mining equipment to the server through the control module;

[0030] The method for the server to obtain the stroke L of the adjusting jack is: measuring the stroke L of the adjusting jack by a stroke measuring device arranged on the adjusting jack, and uploading the measurement data of the stroke L of the adjusting jack to the server through the control module. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 Schematic diagram of a contour mining system according to an embodiment of the present invention.

[0032] Figure 2 It is a schematic diagram of the contour mining equipment of the contour mining system in an embodiment of the present invention in a horizontal state.

[0033] Figure 3 It is a schematic diagram of the contour mining equipment of the contour mining system in an embodiment of the present invention in the overhead mining state.

[0034] Figure 4 It is a schematic diagram of the contour mining equipment of the contour mining system in the embodiment of the present invention in the downward mining state.

[0035] Figure 5 It is a schematic diagram of the advanced roof and floor lines predicted by the contour mining method according to an embodiment of the present invention and the actual advanced roof and floor lines.

[0036] Reference numerals:

[0037] Hydraulic support 1, slide adjustment assembly 100, push frame 101, slide adjustment jack 102, stroke measuring device 103,

[0038] Contour mining equipment 2, scraper conveyor 201, coal mining machine 202, inclination measuring device 203. DETAILED DESCRIPTION

[0039] Embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to be used to explain the present invention, but should not be understood as limiting the present invention.

[0040] like Figure 1-Figure 5 As shown, the contour mining system of an embodiment of the present invention includes a server, a hydraulic support 1, a contour mining device 2 and a control module, wherein the server is used to receive data, analyze data and issue instructions, the hydraulic support 1 is used to support the roof, a slide adjustment component 100 is provided on the hydraulic support 1, the contour mining device 2 is connected to the hydraulic support 1, and the slide adjustment component 100 is connected to the contour mining device 2 to adjust the pitch angle of the contour mining device 2, the contour mining device 2 is used for coal mining, and optionally, the contour mining device 2 includes a contour coal mining machine 202.

[0041] The control module is used to control the actions of the hydraulic support 1 and the contour mining equipment 2 according to the instructions issued by the server. The control module can control the hydraulic support 1 to perform actions such as moving the frame, pushing the slide, raising the column, and lowering the column. It can also control the contour mining equipment 2 to carry out mining or stop mining. It can also adjust the pitch angle of the contour mining equipment 2 by controlling the slide adjustment component 100.

[0042] It should be noted that, in the related art, there is currently no mining system that can realize autonomous planning and cutting for the contour mining equipment 2. The contour mining system of the embodiment of the present invention can predict the cutting trajectory of the contour mining equipment 2 through the server, and use the control module to control the movement of the contour mining equipment 2 and the hydraulic support 1. During the movement of the contour mining equipment 2 and the hydraulic support 1, real-time adjustments can be made to the actual mining height to achieve precise control of the pitch angles of the contour mining equipment 2 during the contour mining process, thereby changing the current situation that the contour mining equipment 2 can only mine coal seams with little thickness variation, and improving the scope of application of the contour mining equipment 2.

[0043] In some embodiments, the contour mining equipment 2 includes a scraper conveyor 201 and a coal mining machine 202. The scraper conveyor 201 is laid in the mining working face, the scraper conveyor 201 is connected to the hydraulic support 1, and the contour coal mining machine 202 is movably arranged on the scraper conveyor 201. The scraper conveyor 201 is used to transport coal and materials, and is also the running track of the contour coal mining machine 202.

[0044] The coal mining machine 202 is a contour coal mining machine 202. The so-called contour coal mining machine 202 means that when the coal mining machine 202 is towed and operated in the working face, the left and right rollers are inconvenient to be raised, and the mining height is kept unchanged during cutting. The contour coal mining machine 202 has the characteristics of short fuselage, good coal loading effect, and large cutting capacity. It is a short fuselage chain-drawn thin coal seam coal mining machine 202 that combines the advantages of a coal planer and a conventional coal mining machine 202. It is mainly used for mining thin coal seam working faces with a mining height of 1.1 to 1.7m where the thickness of the coal seam does not change much. However, there are few coal seams in the underground working face that can always maintain the same mining height; when the coal seam changes greatly, due to structural limitations, the contour coal mining machine 202 itself is difficult to adapt to the changes in the thickness of the coal seam. Therefore, it is necessary to rely on equipment such as hydraulic supports 1 to adjust the pitch angle of the contour coal mining machine 202.

[0045] For example, Figure 1 The H in the middle is the mining height of the coal mining machine during normal mining. Figure 3 H1 in the figure is the mining height after the coal mining machine is mining. Figure 4 H2 in the figure is the mining height after the coal mining machine is overturned.

[0046] Specifically, the adjustment component 100 includes a pushing frame 101 and an adjusting jack 102, one end of the pushing frame 101 is hinged to the scraper conveyor 201, one end of the adjusting jack 102 is hinged to the upper surface of the pushing frame 101, and the other end of the adjusting jack 102 is hinged to the scraper conveyor 201. The control module can drive the scraper conveyor 201 to rotate a certain angle by controlling the stroke value of the adjusting jack 102, thereby achieving the purpose of adjusting the pitch angle of the scraper conveyor 201 set on the adjusting jack 102.

[0047] In some implementations, the contour mining equipment 2 also includes an inclination measuring device 203. Optionally, the inclination measuring device 203 is an inclination sensor or other angle measuring mechanism. The inclination measuring device 203 is arranged on the scraper conveyor 201. The inclination measuring device 203 is used to measure the pitch angle of the scraper conveyor 201. After the inclination measuring device 203 obtains the angle signal of the tube sheet conveyor, it uploads the data to the server through the control module, and the server analyzes and processes the data.

[0048] Similarly, the adjustment component 100 also includes a stroke measuring device 103. Optionally, the stroke measuring device 103 is a stroke sensor or other stroke measuring mechanism. The stroke measuring device 103 is arranged on the adjustment jack 102. The stroke measuring device 103 is used to measure the stroke of the adjustment jack 102 and upload the acquired data to the server through the control module, and the server analyzes and processes the data.

[0049] It should be noted that the server of the contour mining system of the embodiment of the present invention can be a ground server located on the ground, or a downhole server located underground. The form of the server can be selected according to the actual situation of the mining site.

[0050] Specifically, the server includes a host computer and a display. The host computer is connected to the control module. The host computer is used to receive and store data uploaded by the control module and analyze the data, and then issue instructions to the control module based on the analysis results. The host computer is equipped with an autonomous planning and cutting system, which can analyze and calculate based on the geological three-dimensional model data. The display is connected to the host computer, and the display is used to display the data received and processed by the host computer, so as to realize the monitoring of the underground equipment.

[0051] In some embodiments, the control module includes a first controller, a second controller and a third controller, the first controller is connected to the hydraulic support 1 to control the hydraulic support 1 and the slide adjustment assembly 100, the second controller is connected to the scraper conveyor 201 to control the scraper conveyor 201, and the third controller is connected to the coal mining machine 202 to control the coal mining machine 202. It should be noted that the first controller, the second controller and the third controller can be set separately, or integrated into one to form a control box, which is convenient for underground personnel to operate.

[0052] The contour mining method of the second embodiment of the present invention comprises the following steps:

[0053] S101: The server predicts the future n mining height adjustment amounts of the hydraulic support 1 through the geological three-dimensional model data, and simultaneously obtains the future n-knife smooth advancement top and bottom plate lines of the contour mining equipment 2, that is, the server predicts the future movement trajectories of the hydraulic support 1 and the contour mining equipment 2 along the top and bottom plates (such as Figure 5 As shown, the dotted line is the predicted top and bottom line, and the solid line is the actual top and bottom line);

[0054] S102: The height mining equipment 2 starts cutting the first coal, and the control module controls the hydraulic support 1 to move forward;

[0055] S103: before and / or during the hydraulic support 1 is moved, the server analyzes and obtains the stroke target value of the adjusting jack 102 and sends a command to the control module, and the control module controls the adjusting jack 102 to adjust the stroke value until the target stroke value is reached, and the adjusting jack 102 drives the mining at the same height to adjust the mining height of the hydraulic support 1;

[0056] S104: The server recalculates and analyzes the predicted mining height adjustment amount of the hydraulic support for the second to nth cuttings in the future according to the actual mining height of the hydraulic support 1 after the contour mining equipment 2 has cut the first coal, and simultaneously obtains the smooth advancement top and bottom plate lines of the contour mining equipment 2 for the second to nth cuttings;

[0057] S105: Similarly, the contour mining equipment 2 cuts the second piece of coal, and the control module controls the hydraulic support 1 to move forward, and repeats steps S102, S103, S104, and S101 until the nth piece of coal is cut and mining is completed.

[0058] It should be noted that the hydraulic support 1 may not have reached the target mining height adjustment amount at the end of the frame moving process. Therefore, it is necessary to recalculate the mining height adjustment amount of the subsequent 2nd to nth cuts based on the actual mining height adjustment amount of the first cut, so that the contour mining equipment 2 and the hydraulic support 1 can basically move forward according to the predicted top and bottom plate lines and carry out mining.

[0059] Specifically, the method for the server to analyze and obtain the stroke target value of the adjustment jack 102 includes the following steps:

[0060] S201: The server obtains that the future n mining height adjustment values ​​of the hydraulic support 1 are P1, P2, P3, ..., Pn respectively;

[0061] S202: After the contour mining equipment 2 cuts the first coal, the actual adjustment amount of the hydraulic support 1 is M1. The server compares P1 with M1. The server analyzes the adjustment error between the theoretical adjustment amount P1 and the actual adjustment amount M1 and obtains the subsequent mining height adjustment amounts of the corresponding hydraulic support 1, which are P2', P3', ..., Pn' respectively;

[0062] S203: The server obtains the actual pitch angle α of the contour mining equipment 2 and the current stroke L of the adjusting jack 102, and analyzes and calculates the data in combination with the mining height adjustment amount P2' of the hydraulic support 1, obtains the current stroke target value of the adjusting jack 102 and sends a command to the control module;

[0063] S204: The control module controls the adjustment jack 102 to move from the current position until the stroke target value is reached;

[0064] S205: After the contour mining equipment 2 cuts the second piece of coal, the actual adjustment amount of the hydraulic support 1 is M2. The server compares P2' with M2. Based on the adjustment error between the theoretical adjustment amount P2' and the actual adjustment amount M2, the server analyzes and obtains the corresponding mining height adjustment amount of the hydraulic support 1, which are P3", P4", ..., Pn", and repeats steps S202 to S204 until mining is completed.

[0065] Therefore, the server can adjust the theoretical adjustment amount at any time according to the actual adjustment amount of the hydraulic support 1, so that the contour mining equipment 2 can adapt to various different coal seam working faces and can be used in thin coal seams and thick coal seams. This changes the disadvantage that the contour mining equipment 2 can only mine thin coal seam working faces with little thickness variation, greatly improves the use scope of the contour mining equipment 2, and fills the gap in the autonomous planning and cutting control method for the contour mining machine 202.

[0066] In some embodiments, the method for the server to obtain the pitch angle α of the contour mining equipment 2 is: the pitch angle α of the contour mining equipment 2 is measured by the inclination measuring device 203 provided on the scraper conveyor 201, and the measurement data of the pitch angle α of the contour mining equipment 2 is uploaded to the server through the control module;

[0067] Similarly, the method for the server to obtain the stroke L of the adjusting jack 102 is: measuring the stroke L of the adjusting jack 102 by the stroke measuring device 103 arranged on the adjusting jack 102, and uploading the measurement data of the stroke L of the adjusting jack 102 to the server through the control module.

[0068] The contour mining method of the embodiment of the present invention realizes real-time monitoring of the inclination of the scraper conveyor 201 and the stroke value of the adjustment jack 102 by setting an inclination measuring device 203 and a stroke measuring device 103, thereby realizing precise control of the elevation and depression mining during the contour mining process, realizing autonomous planning and adjustment of the elevation and depression mining angles of the contour mining working face in the strike direction, and realizing autonomous planning and adjustment of the cutting height of the coal mining machine 202 in the inclined direction of the contour mining working face.

[0069] In the description of the present invention, it is to be understood that the terms “center”, “longitudinal”, “lateral”, “length”, “width”, “thickness”, “up”, “down”, “front”, “back”, “left”, “right”, “vertical”, “horizontal”, “top”, “bottom”, “inside”, “outside”, “clockwise”, “counterclockwise”, “axial”, “radial”, “circumferential”, etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0070] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0071] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0072] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being "above", "above" or "above" a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being "below", "below" or "below" a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0073] In the present invention, the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" etc. mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0074] Although the above embodiments have been shown and described, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations on the present invention. Changes, modifications, substitutions and variations of the above embodiments by those of ordinary skill in the art are all within the scope of protection of the present invention.

Claims

1. A contour mining method, characterized in that: Based on the implementation of the contour mining system, the contour mining system includes: A server, the server is used to receive data, analyze data and issue instructions; A hydraulic support, the hydraulic support is used to support the top plate, and the hydraulic support is provided with a slide adjustment component; Contour mining equipment, the contour mining equipment is connected to the hydraulic support, the contour mining equipment is used for coal mining, the slide adjustment component is connected to the contour mining equipment; the contour mining equipment includes a scraper conveyor and a coal mining machine, the scraper conveyor is connected to the hydraulic support, and the coal mining machine is movably arranged on the scraper conveyor; the slide adjustment component includes a push frame and a slide adjustment jack, the push frame is connected to the scraper conveyor, one end of the slide adjustment jack is connected to the push frame, and the other end of the slide adjustment jack is connected to the scraper conveyor, and the slide adjustment jack is used to adjust the pitch angle of the scraper conveyor; A control module, the control module is used to control the hydraulic support and the contour mining equipment according to the instructions issued by the server, and control the slide adjustment component to adjust the pitch angle of the contour mining equipment; The contour mining method comprises: S101: The server predicts n future mining height adjustment amounts of the hydraulic support through geological three-dimensional model data, and simultaneously obtains the top and bottom plate lines of the contour mining equipment that are smoothly advanced by n cutters; S102: the contour mining equipment cuts the first coal, and the control module controls the hydraulic support to move along the predicted roof and floor lines; S103: before and / or during the hydraulic support frame movement, the server analyzes and obtains the stroke target value of the adjusting jack and sends a command to the control module, and the control module controls the adjustment jack to move until the target stroke value is reached, thereby adjusting the mining height of the hydraulic support; S104: the server re-predicts the future mining height adjustment amount of the second to nth cuttings of the hydraulic support according to the actual mining height of the first cutting, and simultaneously obtains the smooth advancement top and bottom plate lines of the second to nth cuttings of the equal height mining equipment; S105: the contour mining equipment cuts the second coal, and steps S102, S103, S104, and S101 are repeated until the nth coal is cut and mining is completed; The method for the server to analyze and obtain the stroke target value of the adjustment jack includes: S201: The server obtains that the future n mining height adjustment values ​​of the hydraulic support are P1, P2, P3, ..., Pn respectively; S202: After the contour mining equipment cuts the first coal, the actual adjustment amount of the hydraulic support is M1. The server compares P1 with M1. The server analyzes the adjustment error between the theoretical adjustment amount P1 and the actual adjustment amount M1 and obtains the mining height adjustment amounts corresponding to the hydraulic support, which are P2', P3', ..., Pn' respectively; S203: The server obtains the pitch angle α of the contour mining equipment and the stroke L of the adjusting jack, and analyzes and calculates the data in combination with the mining height adjustment amount P2' of the hydraulic support, obtains the current stroke target value of the adjusting jack and issues a command to the control module; S204: the control module controls the adjustment jack to move until the stroke target value is reached; S205: After the contour mining equipment cuts the second coal, the actual adjustment amount of the hydraulic support is M2. The server compares P2' with M2. The server analyzes the adjustment error between the theoretical adjustment amount P2' and the actual adjustment amount M2 and obtains the mining height adjustment amount corresponding to the hydraulic support, which are P3'', P4'', ..., Pn'' respectively. Steps S202 to S204 are repeated until mining is completed. The method for the server to obtain the pitch angle α of the contour mining equipment is: measuring the pitch angle α of the contour mining equipment by an inclination measuring device provided on the scraper conveyor, and uploading the measurement data of the pitch angle α of the contour mining equipment to the server through the control module; The method for the server to obtain the stroke L of the adjusting jack is: measuring the stroke L of the adjusting jack by a stroke measuring device arranged on the adjusting jack, and uploading the measurement data of the stroke L of the adjusting jack to the server through the control module.

2. The contour mining method according to claim 1, characterized in that: The server is located on the ground or underground, and the server includes: A host computer, which is connected to the control module and is used to receive and store data uploaded by the control module and analyze the data, and then issue instructions to the control module according to the analysis results; A display is connected to the host computer.

3. The contour mining method according to claim 1, characterized in that: The control module includes a first controller, a second controller and a third controller, the first controller is connected to the hydraulic support, the second controller is connected to the scraper conveyor, and the third controller is connected to the coal mining machine.

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