An automatic adjustment test method for the straightness of a fully mechanized coal mining face

Abstract

The present invention discloses a method for automatically adjusting the straightness of a fully mechanized coal mining face, which relates to the technical field of automatic control of fully mechanized coal mining faces and includes: a platform step, a coal mining start step, a data collection and transmission step, a data processing and transmission step, a command transmission step, a command execution step, an execution end step, a first coal mining situation verification step, and a second coal mining situation verification step. The present invention realizes the straightening test of the scraper conveyor, provides technical support for the development of automatic mining technology, and provides a test method for the development of the straightening method for fully mechanized coal mining faces.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of fully mechanized coal mining faces, and particularly to a method for automatically adjusting the straightness of a fully mechanized coal mining face for testing. Background Technique

[0002] Fully mechanized coal mining is an important technology for coal mining. With the development of technology, the fully mechanized coal mining technology in coal mines is advancing towards automation and intelligence. The adjustment of the straightness of the working face refers to adjusting the arrangement of hydraulic supports and scraper conveyors to make them all in a straight line. During the coal production process of a fully mechanized coal mining face, three major equipment, namely hydraulic supports, shearers, and scraper conveyors, are called the "three machines". Among them, the hydraulic support supports the roof and coal wall to form a working space; the shearer cuts coal along the coal wall cutting direction with the scraper conveyor as the track; the scraper conveyor transports the cut raw coal out of the fully mechanized coal mining face, and at the same time provides a moving fulcrum for the hydraulic support, so that the "three machines" equipment in the fully mechanized coal mining face advances parallel along the mining direction, thus completing the coal mining operation. During the advancement of the working face, the "Coal Mine Safety Regulations" clearly require that the fully mechanized coal mining face meet the "three straight" standards, that is, the coal wall, the scraper conveyor, and the hydraulic support should all be in a straight state. The adjustment of the straightness of the working face is an important condition to ensure orderly, safe, and efficient production, and is one of the key technologies for intelligent mining.

[0003] Currently, there are many technologies for adjusting the straightness of scraper conveyors, hydraulic supports, and the working face. Publication No. CN114194745A discloses "a straightness control algorithm for a scraper conveyor based on inertial navigation", which measures the two-dimensional information of the X and Y axes of the straightness through inertial navigation to obtain the pushing stroke of the hydraulic support in the next straight cutting process section; Publication No. CN114170400A discloses "a method for measuring and adjusting the spatial straightness of a hydraulic support group based on three-dimensional point clouds", which uses an inspection robot equipped with a three-dimensional lidar to scan the three-dimensional coordinates of the hydraulic support; Publication No. CN112539082B discloses "a method for interactive straightening of the straightness baseline of a fully mechanized coal mining face based on video technology", installs a camera on the hydraulic support, and adjusts the position of the hydraulic support in an artificial assistance manner. The devices and systems adopted by the above methods are different, and there are differences in the installation position, working mode, involved equipment, and adjustment effect. There is still room for development and significance in the technology for adjusting the straightness of the working face.

[0004] The working face straightness adjustment technology involves the transformation of working face equipment and the design of control algorithms. The effectiveness and reliability of methods, technologies, and equipment need to be gradually and repeatedly tested and verified. If these tests are carried out in a real mine, the uncertain factors are likely to pose potential safety hazards to production. For the tests themselves, there are many unfavorable factors such as high safety standard, licensing approval costs, long process cycles, high difficulty in collecting on-site data, difficult to control test conditions, and inability to flexibly adjust test contents, which are very unfavorable for the early tests when the technology and method are not yet mature. Therefore, a test method is needed to conduct ground tests under laboratory conditions for the working face straightening technology.

[0005] Publication No. CN114004103A discloses a "collaborative operation test platform for basic research on a supportable digital twin fully mechanized coal mining face", which builds a scaled-down prototype of the "three machines" of the fully mechanized coal mining face and a foam model of the coal wall, and uses digital twin technology to realize the real-time mapping of the physical model to the virtual modeling platform, and can conduct simulation research on fully mechanized coal mining technology in the virtualization platform; Publication No. CN106089278B discloses a "test bench for the electro-hydraulic control system of hydraulic supports in an unmanned fully mechanized coal mining face", which uses an LED display board to display the action output of the electro-hydraulic control system of the hydraulic supports to realize the test of the control actions of the electro-hydraulic control system. None of the above technologies can intuitively test and study the actual effect of the working face straightness adjustment technology.

[0006] Therefore, there is an urgent need for a working face straightness adjustment test method that can be conveniently and flexibly carried out under normal ground conditions, can appropriately reflect the operating relationship of each device, and is consistent with the actual working conditions of the underground working face, to verify the effects of related technologies, promote the research of related technologies, and promote the development of the intelligentization of coal mining technology in fully mechanized coal mining faces, which is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention provides a test method for automatically adjusting the straightness of a fully mechanized coal mining face, which realizes the research and verification of the technology for automatically adjusting the straightness of the working face under laboratory conditions, solves the problems of long test cycle, high cost, high difficulty, and poor effect in underground field tests, and achieves the effect of promoting the development and maturity of the technology for automatically adjusting the straightness of the working face.

[0008] To achieve the above object, the present invention adopts the following technical solutions:

[0009] Based on the test method for automatically adjusting the straightness of the working face of the "three machines" experimental platform of the fully mechanized coal mining face, the "three machines" experimental platform of the fully mechanized coal mining face and the working face straightness adjustment system are combined.

[0010] The "Three Machines" experimental platform for fully mechanized coal mining face includes: a simulated shearer, multiple simulated hydraulic supports, a hydraulic pump station, a simulated scraper conveyor, a simulated roof and floor;

[0011] The working face straightness adjustment system includes: a Bluetooth AOA positioning base station, a Bluetooth AOA positioning device, a host ultrasonic wave transmitting and communication device, a slave ultrasonic wave receiving and communication device, a data processing unit, and a hydraulic support electro-hydraulic control device corresponding to the number of simulated hydraulic supports;

[0012] Its method includes the following steps:

[0013] S101. Platform setting step: Arrange the positions of multiple simulated hydraulic supports and a set of simulated scraper conveyors according to the layout rules or predetermined test conditions, and arrange the simulated shearer at the starting position of the simulated scraper conveyor; The Bluetooth AOA positioning device, the host ultrasonic wave transmitting and communication device, and the data processing unit are connected by communication cables and installed at the same position in the middle of the simulated shearer body; The slave ultrasonic wave receiving and communication device is installed on the simulated hydraulic support and is connected to the hydraulic support electro-hydraulic control device through a cable. The hydraulic support electro-hydraulic control device and the simulated hydraulic support are installed one-to-one on the front side of the test bench carrying each simulated device. The hydraulic support electro-hydraulic control device and the simulated hydraulic support are numbered in ascending order of numbers and the numbers of the two are the same. The hydraulic support electro-hydraulic control devices are connected by inter-frame communication cables, and the Bluetooth AOA positioning base station is arranged at the four corners of the "Three Machines" experimental platform for fully mechanized coal mining face;

[0014] S201. Coal mining start step: Start the simulated shearer and make it run automatically along the scraper conveyor;

[0015] S301. Data acquisition and sending step: The Bluetooth AOA positioning device obtains the three-dimensional spatial position coordinates of the simulated shearer in the Bluetooth AOA positioning coordinate system and sends them to the data processing unit. The host ultrasonic wave transmitting and communication device communicates with the slave ultrasonic wave receiving and communication device in the hydraulic support electro-hydraulic control device on the simulated hydraulic support currently facing the middle of the simulated shearer body and jointly locates to obtain the number of the currently facing simulated hydraulic support and its current position vector relative to the host ultrasonic wave transmitting and communication device and sends them to the data processing unit;

[0016] S401. Data processing and sending step: The data processing unit records the position coordinates sent by the Bluetooth AOA positioning device and the position vectors sent by the host of the ultrasonic emission and communication device according to the time, records and forms the simulated movement trajectory of the shearer, the simulated arrangement trajectory of the scraper conveyor, and the simulated arrangement trajectory of the hydraulic support, and calculates the pushing and moving distances that the electro-hydraulic control devices of each numbered hydraulic support should execute when adjusting the straightness of the working face according to the trajectory. At the same time, according to the currently facing simulated hydraulic support number and the coal mining process, it judges the simulated hydraulic support number that should execute the pushing or moving operation, and sends the pushing or moving distance that the electro-hydraulic control device of the hydraulic support corresponding to this number should execute to the host of the ultrasonic emission and communication device;

[0017] S501. Command transmission step: The host of the ultrasonic emission and communication device records the simulated hydraulic support number that should execute the pushing or moving distance and the electro-hydraulic control device corresponding to this number received, and sends it to the electro-hydraulic control device of the hydraulic support corresponding to the currently facing simulated hydraulic support in the middle of the simulated shearer body through ultrasonic communication between the host of the ultrasonic emission and communication device and the slave machine of the ultrasonic receiving and communication device;

[0018] S601. Command execution step: The electro-hydraulic control device of the currently facing hydraulic support sends the electro-hydraulic control device number that should execute the pushing or moving operation and the pushing or moving distance received to the electro-hydraulic control device of the corresponding number through the inter-bracket communication cable, and the electro-hydraulic control device of the corresponding number controls the simulated hydraulic support to execute the pushing or moving operation;

[0019] S701. Execution end step: The simulated shearer continues to travel along the simulated scraper conveyor until it reaches the cut-off position of the simulated scraper conveyor. During this period, the above steps S301 - S601 are repeated. After the simulated shearer travels to the cut-off position of the simulated scraper conveyor, it stops running;

[0020] S801. First coal mining situation verification step: Measure the arrangement forms of the simulated hydraulic support and the simulated scraper conveyor after the electro-hydraulic control device of the hydraulic support executes the pushing and moving operations according to the calculated values of the data processing unit in the working face straightness adjustment system, and evaluate its straightness to verify the adjustment effect of the working face straightness in the case of mining one cut of coal;

[0021] S901. Second coal mining situation verification step: Change the running direction of the simulated shearer, and repeat steps S201 - S801 to verify the adjustment effect of the working face straightness when mining multiple cuts of coal.

[0022] For the above method, optionally, when the simulated roof is supported by the simulated hydraulic support, pressure and friction are generated to fix the simulated hydraulic support in place, and when it is not supported, there is no pressure and friction acting between it and the simulated hydraulic support.

[0023] In the above method, optionally, the simulated floor is formed by splicing square steel bars with the same quantity as the simulated hydraulic supports. Jacks are respectively provided at the four corners under each square steel bar. By adjusting the heights of the jacks, the undulating state of the square steel bars is changed to simulate the geological changes of the actual working face.

[0024] In the above method, optionally, the simulated scraper conveyor is formed by connecting the middle troughs of the simulated scraper conveyors with the same quantity as the simulated hydraulic supports. There is an adjustable gap between any two middle troughs of the simulated scraper conveyors.

[0025] In the above method, optionally, by adjusting the maximum value of the gap, the maximum angle that can be formed between the central axes of any two middle troughs of the simulated scraper conveyors is 1°.

[0026] In the above method, optionally, the simulated hydraulic support has a lifting oil cylinder and a pushing oil cylinder powered by a hydraulic pump station.

[0027] In the above method, optionally, when the simulated hydraulic support is fixed in place under the action of the pressure and friction force of the simulated roof, the middle trough of the simulated scraper conveyor is pushed out or retracted by pushing out or retracting the pushing oil cylinder at this time.

[0028] In the above method, optionally, when the simulated hydraulic support is not under the action of the pressure and friction force of the simulated roof, the simulated hydraulic support moves backward or forward by pushing out or retracting the pushing oil cylinder.

[0029] In the above method, optionally, the electro-hydraulic control device of the hydraulic support can control the lifting oil cylinder and the pushing oil cylinder on the simulated hydraulic support to perform lifting / extending and retracting.

[0030] In the above method, optionally, the electro-hydraulic control device of the hydraulic support is connected with a slave ultrasonic receiving and communication device, which is used to cooperate with the master ultrasonic transmitting and communication device on the simulated shearer to measure the relative position between the simulated shearer and the simulated hydraulic support, and at the same time is the receiving end of the data communication between the data processing unit and the electro-hydraulic control device.

[0031] As can be seen from the above technical solutions, compared with the prior art, the present invention provides a method for automatically adjusting the straightness of a fully mechanized mining face: 1) Using the "three machines" experimental platform for the fully mechanized mining face and the working face straightness adjustment system, the actual underground working face conditions are simulated under laboratory conditions and in a conventional environment for testing, solving the problems of high cost, long cycle, many restrictions, and difficult operation in actual underground field tests; 2) The "three machines" experimental platform for the fully mechanized mining face restores the state of each device on the fully mechanized mining face to the greatest extent; among them, the simulated shearer can move bidirectionally along the simulated scraper conveyor, and the simulated scraper conveyor and the simulated hydraulic support can achieve controllable forward and backward free movement under the assistance of the simulated roof and the control of the electro-hydraulic control device of the hydraulic support, and can freely simulate the arrangement of the working face devices under various coal mining processes and at each stage, providing conditions for the convenient and flexible development of the working face straightness adjustment test; 3) The simulated hydraulic support is driven by hydraulic power, the connection between the pushing cylinder and the simulated hydraulic support and the simulated scraper conveyor is hinged by a pin shaft, and the middle troughs of the simulated scraper conveyor are connected by a dumbbell pin and have a gap, highly restoring the structural characteristics and mechanical characteristics of the real underground equipment, ensuring the effectiveness of the test method; 4) Multiple middle troughs of the simulated scraper conveyor are connected to form a simulated scraper conveyor, and the quantity is sufficient to simulate various coal mining process stages such as coal cutting in the middle section of the working face, the formation of a curved section of the scraper conveyor, and the shearer's oblique cutting into the coal, and is also sufficient to simulate multiple cycles of the shearer's round-trip operation. At the same time, it occupies less space and can be arranged in a general laboratory environment, achieving a balance between functionality and convenience; 5) It has strong scalability. Thanks to the complete functions of the "three machines" experimental platform for the fully mechanized mining face and the electro-hydraulic control device of the hydraulic support, not only can the method for automatically adjusting the straightness of the working face be tested, but it is also convenient for developing or transforming and using it for tests such as shearer positioning, working face flatness adjustment, and intelligent control of major equipment in an unattended working face, which is beneficial to promoting the research of related technologies and the development of the intelligentization of coal mining technology for fully mechanized mining faces. Brief Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0033] Figure 1 It is a flowchart of the method for automatically adjusting the straightness of the working face based on the "three machines" experimental platform for the fully mechanized mining face provided by the present invention;

[0034] Figure 2 It is a schematic top view layout structure diagram of the "three machines" experimental platform for the fully mechanized mining face provided by the present invention;

[0035] Figure 3 Schematic diagram of the simulated roof and floor structures provided by the present invention;

[0036] Figure 4 Schematic diagram of the simulated shearer provided by the present invention;

[0037] Figure 5 Schematic diagram of the simulated hydraulic support and the middle trough of the simulated scraper conveyor provided by the present invention. Detailed implementation manners

[0038] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part rather than all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] In the present application, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or sequence between these entities or operations. The terms "comprising", "including" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0040] Referring to Figure 1 As shown, the present invention discloses a method for automatically adjusting the straightness of a fully-mechanized mining face based on a three-machine experimental platform for a fully-mechanized mining face, which combines the "three-machine" experimental platform for a fully-mechanized mining face and a working face straightness adjustment system.

[0041] The "three-machine" experimental platform for a fully-mechanized mining face includes: a simulated shearer, multiple simulated hydraulic supports, a hydraulic pump station, a simulated scraper conveyor, a simulated roof and a floor;

[0042] The working face straightness adjustment system includes: a Bluetooth AOA positioning base station, a Bluetooth AOA positioning device, a host ultrasonic wave transmitting and communication device, a slave ultrasonic wave receiving and communication device, a data processing unit, and a hydraulic support electro-hydraulic control device corresponding to the number of simulated hydraulic supports;

[0043] The method includes the following steps:

[0044] S101. Platform setting steps: Arrange the positions of multiple simulated hydraulic supports and a set of simulated scraper conveyors according to the layout rules or predetermined test conditions, and arrange the simulated shearer at the starting position of the simulated scraper conveyor; The Bluetooth AOA positioning device, the host of the ultrasonic emission and communication device, and the data processing unit are connected by communication cables and installed at the same position in the middle of the simulated shearer fuselage; The slave unit of the ultrasonic receiving and communication device is installed on the simulated hydraulic support and is connected to the electro-hydraulic control device of the hydraulic support through a cable. The electro-hydraulic control device of the hydraulic support and the simulated hydraulic support are installed one-to-one on the front side of the test bench carrying each simulated device. The electro-hydraulic control device of the hydraulic support and the simulated hydraulic support are numbered in ascending order of numbers and the two numbers are the same. The electro-hydraulic control devices of the hydraulic supports are connected by inter-frame communication cables. The Bluetooth AOA positioning base stations are arranged at the four corners of the "three-machine" experimental platform of the fully mechanized coal mining face;

[0045] S201. Coal mining start steps: Start the simulated shearer and make it run automatically along the scraper conveyor;

[0046] S301. Data acquisition and sending steps: The Bluetooth AOA positioning device obtains the three-dimensional position coordinates of the simulated shearer in the Bluetooth AOA positioning coordinate system and sends them to the data processing unit. The host of the ultrasonic emission and communication device communicates with the slave unit of the ultrasonic receiving and communication device in the electro-hydraulic control device of the simulated hydraulic support directly opposite to the middle of the simulated shearer fuselage and jointly locates to obtain the number of the simulated hydraulic support directly opposite and its position vector relative to the host of the ultrasonic emission and communication device at present, and sends them to the data processing unit;

[0047] S401. Data processing and sending steps: The data processing unit records the position coordinates sent by the Bluetooth AOA positioning device and the position vectors sent by the host of the ultrasonic emission and communication device according to the time, records and forms the movement trajectory of the simulated shearer, the arrangement trajectory of the simulated scraper conveyor, and the arrangement trajectory of the simulated hydraulic support, and calculates the pushing and shifting distances that the electro-hydraulic control devices of each numbered hydraulic support should execute when adjusting the straightness of the working face according to the trajectories. At the same time, according to the number of the simulated hydraulic support directly opposite and the coal mining process, judge the number of the simulated hydraulic support that should execute the pushing or shifting operation, and send the pushing or shifting distance that the electro-hydraulic control device corresponding to this number should execute to the host of the ultrasonic emission and communication device;

[0048] S501. Command transmission steps: The host of the ultrasonic emission and communication device records the number of the simulated hydraulic support that should execute the pushing or shifting distance and the electro-hydraulic control device corresponding to this number, and sends them to the electro-hydraulic control device corresponding to the simulated hydraulic support directly opposite to the middle of the simulated shearer fuselage through the ultrasonic communication between the host of the ultrasonic emission and communication device and the slave unit of the ultrasonic receiving and communication device;

[0049] S601. Command execution step: The electro-hydraulic control device of the currently facing hydraulic support sends the numbers of the electro-hydraulic control devices of the hydraulic supports that should perform the scraper conveyor pushing or support moving operations and the distances of the scraper conveyor pushing or support moving that should be executed to the electro-hydraulic control devices of the corresponding numbers through the inter-bracket communication cable, and the electro-hydraulic control devices of the corresponding numbers control the simulated hydraulic supports to perform the scraper conveyor pushing or support moving operations;

[0050] S701. Execution end step: The simulated shearer continues to travel along the simulated scraper conveyor until it reaches the cut-off position of the simulated scraper conveyor. During this period, the above steps S301 - S601 are repeated. After the simulated shearer travels to the cut-off position of the simulated scraper conveyor, it stops running;

[0051] S801. First coal mining condition verification step: Measure the arrangement forms of the simulated hydraulic supports and the simulated scraper conveyor after the electro-hydraulic control device of the hydraulic support performs the scraper conveyor pushing and support moving operations according to the calculated values of the data processing unit in the working face straightness adjustment system, and evaluate its straightness to verify the working face straightness adjustment effect in the case of mining one cut of coal;

[0052] S901. Second coal mining condition verification step: Change the running direction of the simulated shearer and repeat steps S201 - S801 to verify the working face straightness adjustment effect when mining multiple cuts of coal.

[0053] Furthermore, when the simulated roof is supported by the simulated hydraulic support, pressure and friction are generated to fix the simulated hydraulic support in place. When it is not supported, there is no pressure and friction acting between it and the simulated hydraulic support.

[0054] Furthermore, a simulated floor is made up of square steel materials spliced together with the same number as the simulated hydraulic supports. Four jacks are respectively arranged at the four corners under each square steel material, and the undulating state of the square steel materials is changed by adjusting the heights of the jacks to simulate the geological changes of the actual working face.

[0055] Furthermore, the simulated scraper conveyor is connected by the middle troughs of the simulated scraper conveyors with the same number as the simulated hydraulic supports, and there is an adjustable gap between any two middle troughs of the simulated scraper conveyors.

[0056] Even further, by adjusting the maximum value of the gap, the maximum angle that can be formed between the central axes of any two middle troughs of the simulated scraper conveyors is 1°.

[0057] Furthermore, the simulated hydraulic support has lifting cylinders and pushing cylinders powered by a hydraulic pump station.

[0058] Specifically, the lifting cylinder can raise the simulated hydraulic support until the simulated hydraulic support props up the simulated roof, or lower the simulated hydraulic support until the simulated hydraulic support stops propping up the simulated roof; one end of the pushing cylinder is fixed on the hydraulic support, and the other end is connected to the middle trough of the simulated scraper conveyor one by one. It can be pushed out to increase the distance between the middle trough of the simulated scraper conveyor and the simulated hydraulic support, or retracted to reduce the distance between the middle trough of the simulated scraper conveyor and the simulated hydraulic support.

[0059] Furthermore, when the simulated hydraulic support is fixed in place under the action of the pressure and friction force of the simulated roof, the middle trough of the simulated scraper conveyor can be pushed out or pulled back by pushing or retracting the pushing cylinder.

[0060] Still further, when the simulated hydraulic support is not under the action of the pressure and friction force of the simulated roof, the simulated hydraulic support can be retracted or advanced by pushing or retracting the pushing cylinder.

[0061] Further, the electro-hydraulic control device of the hydraulic support can control the lifting cylinder and the pushing cylinder on the simulated hydraulic support to perform lifting / extending and retracting.

[0062] Specifically, the simulated hydraulic support has a balance cylinder and a first-stage rib protection plate extending and retracting cylinder, which can simulate the real hydraulic support to level the roof beam and perform the extending and retracting actions of the first-stage mutual assistance.

[0063] The hydraulic pump station is connected to the lifting cylinder, the pushing cylinder, the balance cylinder and the first-stage rib protection plate extending and retracting cylinder through hydraulic pipelines to provide power for each cylinder. An electro-hydraulic reversing valve is connected in the hydraulic pipeline. By controlling the on / off of the electro-hydraulic reversing valve, the actions of the corresponding cylinder can be controlled.

[0064] Further, the electro-hydraulic control device of the hydraulic support is connected with a sub-unit of the ultrasonic receiving and communication device, which is used to cooperate with the main unit of the ultrasonic transmitting and communication device on the simulated shearer to measure the relative position between the simulated shearer and the simulated hydraulic support, and at the same time is the receiving end of the data communication between the data processing unit and the electro-hydraulic control device.

[0065] The electro-hydraulic control device of the hydraulic support is connected to the electro-hydraulic reversing valve through a cable, and can output various electric signals such as lifting the support, lowering the support, pushing the scraper conveyor, pulling the support, extending the balance, retracting the balance, extending the first-stage protection, and retracting the first-stage protection to control the on / off of the corresponding electro-hydraulic reversing valve, and further control the cylinders on the simulated hydraulic support to perform the actions of lifting the support, lowering the support, pushing the scraper conveyor, pulling the support, extending the balance, retracting the balance, extending the first-stage protection, and retracting the first-stage protection.

[0066] Furthermore, the simulated shearer is made on a reduced scale in imitation of the real shearer. It has a traveling motor and skids that can be reversed and speed-regulated, and can travel bidirectionally along the track on the simulated scraper conveyor. The simulated shearer has a rocker arm that can be lifted and a drum that can be rotated, and can simulate the real coal-cutting posture of the shearer. The shearer is equipped with a Bluetooth AOA positioning device, an ultrasonic sensing and communication device, an infrared sensing and communication device, a strapdown inertial navigation device, and a shaft encoder.

[0067] In a specific embodiment, referring to Figure 2 and 3 shown is a schematic top view layout structure diagram of the "three machines" experimental platform for fully mechanized coal mining face, including a simulated shearer 2, 27 simulated hydraulic supports 1, a set of simulated scraper conveyors 3, a simulated roof 8, a hydraulic pump station 4, and 27 electro-hydraulic control devices 5 for hydraulic supports; the experimental bench is set on the ground, and the simulated scraper conveyor 3 is laid on the experimental bench; the simulated shearer 2 is arranged on the simulated scraper conveyor 3, the simulated hydraulic supports 1 are arranged at the rear side of the simulated scraper conveyor 3, corresponding to the middle troughs of the simulated scraper conveyor one by one; the simulated pump station 4 is arranged on one side of the experimental bench; the simulated roof 8 is fixed on the experimental bench; the electro-hydraulic control devices 5 for hydraulic supports are arranged at the front side of the experimental bench, corresponding to the simulated hydraulic supports 1 one by one; Bluetooth AOA positioning base stations 6 are arranged at the four corners of the experimental bench.

[0068] Referring to Figure 4 shown, the simulated shearer 2 is composed of a fuselage 9, left and right rocker arms 10, and left and right drums 11; the Bluetooth AOA positioning device 12, the host of the ultrasonic transmitting and communication device 14, and the data processing unit 13 are connected by communication cables and installed at the same position in the middle of the fuselage of the simulated shearer 2; the adjacent middle troughs of the simulated scraper conveyor are hinged by dumbbell pins 16, and the gap 15 between the adjacent middle troughs can be adjusted by adjusting the dumbbell pins 16.

[0069] Referring to Figure 5As shown in the figure, the simulated hydraulic support 1 includes a base 23, a four-bar linkage 24, a balance beam 27, a balance beam oil cylinder 26, a top beam 25, a rib protection plate 22, a rib protection plate oil cylinder 21, a lifting oil cylinder 17, a pushing oil cylinder 19, an electromagnetic directional control valve 28, a connecting pin shaft 20 for connecting the simulated hydraulic support and the simulated middle trough of the scraper conveyor, and a slave unit 18 of the ultrasonic receiving and communication device. The front end of the pushing oil cylinder 19 is connected to the simulated middle trough of the scraper conveyor through the connecting pin shaft 20 for connecting the simulated hydraulic support and the simulated middle trough of the scraper conveyor, so as to realize the adjustment of the position of the simulated middle trough of the scraper conveyor by the pushing oil cylinder of the simulated hydraulic support; the slave unit 18 of the ultrasonic receiving and communication device is installed in the middle of the lifting oil cylinder, and the height is the same as that of the master unit 14 of the ultrasonic transmitting and communication device on the simulated shearer 2; the slave unit 18 of the ultrasonic receiving and communication device is connected to the electro-hydraulic control device 5 of the hydraulic support through a cable; the electro-hydraulic control device 5 of the hydraulic support can control the on-off of the electromagnetic directional control valve 28 to control the telescopic movement of the lifting oil cylinder, the pushing oil cylinder, the rib protection plate oil cylinder and the balance beam oil cylinder of the simulated hydraulic support 1, so as to realize the actions of lifting, lowering, pushing the scraper conveyor, pulling the support, extending the balance beam, retracting the balance beam, extending the rib protection plate and retracting the rib protection plate of the simulated hydraulic support 1.

[0070] The following details the experimental method for automatically adjusting the straightness of the scraper conveyor of the present invention:

[0071] Step 1: Arrange the positions of 27 simulated hydraulic supports and a set of simulated scraper conveyors according to the layout rules of the support group and the pose of the scraper conveyor in the fully mechanized coal mining face or the predetermined test conditions. The simulated shearer is arranged at the starting position of the fuzzy scraper conveyor. At this time, the center position of the simulated shearer is directly opposite to the No. 5 support;

[0072] Step 2: Start the simulated shearer to make it start to run automatically along the scraper conveyor;

[0073] Step 3: The Bluetooth AOA positioning device obtains the three-dimensional spatial position coordinates of the simulated shearer in the Bluetooth AOA positioning coordinate system and sends them to the data processing unit. The master unit of the ultrasonic transmitting and communication device communicates with the slave unit of the ultrasonic receiving and communication device in the electro-hydraulic control device of the No. 5 simulated hydraulic support directly opposite to the middle part of the simulated shearer body and jointly locates to obtain the number of the No. 5 simulated hydraulic support and its current position vector relative to the master unit of the ultrasonic transmitting and communication device and sends them to the data processing unit;

[0074] Step 4: The data processing unit records the position coordinates sent by the Bluetooth AOA positioning device and the position vectors sent by the host of the ultrasonic emission and communication device according to the time, records and forms the simulated movement trajectory of the shearer, the simulated arrangement trajectory of the scraper conveyor, and the simulated arrangement trajectory of the hydraulic supports, and calculates according to the trajectory that in order to adjust the straightness of the working face, the pushing and support moving distances that the electro-hydraulic control devices of each numbered hydraulic support should execute. At the same time, according to the coal mining process, it judges the numbered hydraulic support that should execute the pushing or support moving operation, and finally sends the support moving distance that the No. 1 electro-hydraulic control device should execute to the host of the ultrasonic emission and communication device;

[0075] Step 5: The host of the ultrasonic emission and communication device records the received numbered hydraulic support and the pushing or support moving distance that the electro-hydraulic control device of this number should execute, and sends it to the No. 5 electro-hydraulic control device of the No. 5 simulated hydraulic support through ultrasonic communication between the host of the ultrasonic emission and communication device and the slave machine of the acoustic wave receiving and communication device;

[0076] Step 6: The No. 5 electro-hydraulic control device of the hydraulic support sends the received numbered electro-hydraulic control device of the hydraulic support that should execute the pushing or support moving operation and the pushing or support moving distance to the No. 1 electro-hydraulic control device of the hydraulic support through the inter-bracket communication cable, and the No. 1 electro-hydraulic control device of the hydraulic support controls the simulated hydraulic support to execute the support moving operation;

[0077] Step 7: The simulated shearer continues to travel along the simulated scraper conveyor and moves the center of the simulated shearer to the position directly opposite the No. 6 hydraulic support;

[0078] Step 8: The Bluetooth AOA positioning device obtains the three-dimensional space position coordinates of the simulated shearer in the Bluetooth AOA positioning coordinate system and sends them to the data processing unit. The host of the ultrasonic emission and communication device communicates with the slave machine of the ultrasonic emission and communication device in the electro-hydraulic control device of the No. 6 simulated hydraulic support directly opposite the middle of the simulated shearer body and jointly locates to obtain the number of the No. 6 simulated hydraulic support and its current position vector relative to the host of the ultrasonic emission and communication device and sends them to the data processing unit;

[0079] Step 9: The data processing unit records the position coordinates sent by the Bluetooth AOA positioning device and the position vectors sent by the host of the ultrasonic emission and communication device according to the time, records and forms the simulated movement trajectory of the shearer, the simulated arrangement trajectory of the scraper conveyor, and the simulated arrangement trajectory of the hydraulic supports, and calculates according to the trajectory that in order to adjust the straightness of the working face, the pushing and support moving distances that the electro-hydraulic control devices of each numbered hydraulic support should execute. At the same time, according to the coal mining process, it judges the numbered hydraulic support that should execute the pushing or support moving operation, and finally sends the pushing distance that the No. 1 electro-hydraulic control device should execute, the support moving distance that the No. 2 electro-hydraulic control device should execute to the host of the ultrasonic emission and communication device;

[0080] Step 10: The host of the ultrasonic emission and communication device records the bracket number received and the distance of scraper conveyor pushing or support moving that the electro-hydraulic control device of this number should execute, and sends them to the electro-hydraulic control device of the No. 6 hydraulic support corresponding to the No. 6 simulated hydraulic support through ultrasonic communication between the host of the ultrasonic emission and communication device and the slave of the ultrasonic receiving and communication device;

[0081] Step 11: The electro-hydraulic control device of the No. 6 hydraulic support sends the number of the electro-hydraulic control device of the hydraulic support that should execute the scraper conveyor pushing or support moving operation and the distance of scraper conveyor pushing or support moving that should be executed to the electro-hydraulic control devices of the No. 1 and No. 2 hydraulic supports respectively through the inter-bracket communication cable. The electro-hydraulic control device of the No. 1 hydraulic support controls the simulated hydraulic support to execute the scraper conveyor pushing operation, and the electro-hydraulic control device of the No. 2 hydraulic support controls the simulated hydraulic support to execute the support moving operation;

[0082] Step 12: The simulated shearer continues to travel along the simulated scraper conveyor and moves the center of the simulated shearer to a position directly opposite the Nth hydraulic support;

[0083] Step 13: The Bluetooth AOA positioning device obtains the three-dimensional spatial position coordinates of the simulated shearer in the Bluetooth AOA positioning coordinate system and sends them to the data processing unit. The host of the ultrasonic emission and communication device communicates with the slave of the ultrasonic receiving and communication device in the electro-hydraulic control device of the Nth simulated hydraulic support directly opposite the middle of the simulated shearer body to jointly position, and obtains the number of the Nth simulated hydraulic support and its current position vector relative to the host of the ultrasonic emission and communication device and sends them to the data processing unit;

[0084] Step 14: The data processing unit records the position coordinates sent by the Bluetooth AOA positioning device and the position vector sent by the host of the ultrasonic emission and communication device according to the time, records and forms the movement trajectory of the simulated shearer, the arrangement trajectory of the simulated scraper conveyor, and the arrangement trajectory of the simulated hydraulic supports, and calculates according to the trajectory that, in order to adjust the straightness of the working face, the distances of scraper conveyor pushing and support moving that the electro-hydraulic control devices of each number should execute. At the same time, it judges the number of the support that should execute the scraper conveyor pushing or support moving operation according to the coal mining process, and finally sends the number M and the distance of scraper conveyor pushing or support moving that the electro-hydraulic control device of the Mth number should execute to the host of the ultrasonic emission and communication device;

[0085] Step 15: The host of the ultrasonic emission and communication device records the bracket number received and the distance of scraper conveyor pushing or support moving that the electro-hydraulic control device of this number should execute, and sends them to the electro-hydraulic control device of the Nth hydraulic support corresponding to the Nth simulated hydraulic support through ultrasonic communication between the host of the ultrasonic emission and communication device and the slave of the ultrasonic receiving and communication device;

[0086] Step 16: The electro-hydraulic control device of the Nth hydraulic support sends the numbers of the electro-hydraulic control devices of the hydraulic supports that should perform the scraper conveyor pushing or support moving operations and the distances for scraper conveyor pushing or support moving that should be executed to the electro-hydraulic control device of the Mth hydraulic support through the inter-support communication cable, and the electro-hydraulic control device of the Mth hydraulic support controls the simulated hydraulic support to perform the scraper conveyor pushing or support moving operation;

[0087] Step 17: The simulated shearer continues to travel along the simulated scraper conveyor until it reaches the cut-off position of the simulated scraper conveyor. During this period, the above-mentioned Steps 12-16 are repeated. After the simulated shearer travels to the cut-off position of the simulated scraper conveyor, it stops running;

[0088] Step 18: Measure the arrangement forms of the simulated hydraulic support and the simulated scraper conveyor after the electro-hydraulic control device of the hydraulic support performs the scraper conveyor pushing and support moving operations according to the calculated values of the data processing unit in the working face straightness adjustment system, and evaluate its straightness.

[0089] Each embodiment in this specification is described in a progressive manner. For the same or similar parts among the embodiments, reference can be made to each other. The key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the system or system embodiments, since they are basically similar to the method embodiments, the description is relatively simple. For the relevant parts, reference can be made to the partial description of the method embodiments. The systems and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0090] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An automatic adjustment test method for the straightness of the working face based on the three-machine experimental platform of the fully-mechanized mining face, characterized in that, Integrate the "Three Machines" experimental platform for fully mechanized coal mining face and the working face straightness adjustment system. The "Three Machines" experimental platform for fully mechanized coal mining face includes: a simulated shearer, multiple simulated hydraulic supports, a hydraulic pump station, a simulated scraper conveyor, a simulated roof and floor; The working face straightness adjustment system includes: a Bluetooth AOA positioning base station, a Bluetooth AOA positioning device, a host ultrasonic wave transmitting and communication device, a slave ultrasonic wave receiving and communication device, a data processing unit, and a hydraulic support electro-hydraulic control device corresponding to the number of simulated hydraulic supports; The method includes the following steps: S101. Platform setting step: Arrange the positions of multiple simulated hydraulic supports and a set of simulated scraper conveyors according to the layout rules or predetermined test conditions, and arrange the simulated shearer at the starting position of the simulated scraper conveyor; Connect the Bluetooth AOA positioning device, the host ultrasonic wave transmitting and communication device, and the data processing unit through communication cables and install them at the same position in the middle of the simulated shearer body; Install the slave ultrasonic wave receiving and communication device on the simulated hydraulic support, connect it to the hydraulic support electro-hydraulic control device through a cable, and install the hydraulic support electro-hydraulic control device and the simulated hydraulic support one-to-one on the front side of the test bench carrying each simulated device. The hydraulic support electro-hydraulic control device and the simulated hydraulic support are numbered in ascending order and the numbers are the same. The hydraulic support electro-hydraulic control devices are connected through inter-frame communication cables. The Bluetooth AOA positioning base station is arranged at the four corners of the "Three Machines" experimental platform for fully mechanized coal mining face; S201. Coal mining start step: Start the simulated shearer and make it run automatically along the scraper conveyor; S301. Data acquisition and sending step: The Bluetooth AOA positioning device obtains the three-dimensional spatial position coordinates of the simulated shearer in the Bluetooth AOA positioning coordinate system and sends them to the data processing unit. The host ultrasonic wave transmitting and communication device communicates with the slave ultrasonic wave receiving and communication device in the hydraulic support electro-hydraulic control device on the simulated hydraulic support currently facing the middle of the simulated shearer body and jointly locates to obtain the number of the currently facing simulated hydraulic support and its current position vector relative to the host ultrasonic wave transmitting and communication device and sends them to the data processing unit; S401. Data processing and sending step: The data processing unit records the position coordinates sent by the Bluetooth AOA positioning device and the position vectors sent by the host ultrasonic wave transmitting and communication device according to the time, records and forms the movement trajectory of the simulated shearer, the arrangement trajectory of the simulated scraper conveyor, and the arrangement trajectory of the simulated hydraulic support, and calculates the pushing and moving distances that each numbered hydraulic support electro-hydraulic control device should execute when adjusting the working face straightness according to the trajectory. At the same time, according to the number of the currently facing simulated hydraulic support and the coal mining process, judge the number of the simulated hydraulic support that should execute the pushing or moving operation, and send the pushing or moving distance that the hydraulic support electro-hydraulic control device corresponding to this number should execute to the host ultrasonic wave transmitting and communication device; S501. Command Transmission Step: The host of the ultrasonic emission and communication device records the numbers of the simulated hydraulic supports for which the pushing or support moving distances to be executed are received and the electro-hydraulic control devices of the hydraulic supports corresponding to the numbers, and sends them to the electro-hydraulic control device of the hydraulic support corresponding to the current position opposite the middle part of the simulated shearer body through ultrasonic communication between the host of the ultrasonic emission and communication device and the slave of the ultrasonic reception and communication device; S601. Command Execution Step: The electro-hydraulic control device of the currently opposite hydraulic support sends the number of the electro-hydraulic control device of the hydraulic support for which the pushing or support moving operation is to be executed and the pushing or support moving distance to be executed to the electro-hydraulic control device of the hydraulic support corresponding to the number through the inter-bracket communication cable, and the electro-hydraulic control device of the corresponding number controls the simulated hydraulic support to execute the pushing or support moving operation; S701. Execution End Step: The simulated shearer continues to travel along the simulated scraper conveyor until it reaches the cut-off position of the simulated scraper conveyor. During this period, steps S301 - S601 are repeated. After the simulated shearer reaches the cut-off position of the simulated scraper conveyor, it stops running; S801. First Coal Mining Condition Verification Step: Measure the calculated value of the data processing unit in the system for adjusting the straightness of the working face according to the electro-hydraulic control device of the hydraulic support after the pushing and support moving operations, the arrangement forms of the simulated hydraulic support and the simulated scraper conveyor, and evaluate its straightness to verify the adjustment effect of the straightness of the working face in the case of mining one cut of coal; S901. Second Coal Mining Condition Verification Step: Change the running direction of the simulated shearer and repeat steps S201 - S801 to verify the adjustment effect of the straightness of the working face when mining multiple cuts of coal.

2. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine test platform of the fully-mechanized mining face according to claim 1, characterized in that When the simulated roof is supported by the simulated hydraulic support, pressure and friction are generated to fix the simulated hydraulic support in place. When it is not supported, there is no pressure and friction acting between it and the simulated hydraulic support.

3. The automatic adjustment test method for the straightness of the working face based on the three-machine test platform of the fully mechanized coal mining face according to claim 1, wherein The simulated floor is composed of square steel pieces with the same number as the simulated hydraulic supports. Four jacks are respectively provided at the four corners under each square steel piece. By adjusting the heights of the jacks, the undulating state of the square steel pieces is changed to simulate the geological changes of the actual working face.

4. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine test platform of the fully-mechanized mining face according to claim 1, characterized in that, The simulated scraper conveyor is connected by simulated scraper conveyor middle troughs with the same number as the simulated hydraulic supports. There is an adjustable gap between any two simulated scraper conveyor middle troughs.

5. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine test platform for the fully-mechanized mining face according to claim 4, characterized in that By adjusting the maximum value of the gap, the maximum angle that can be formed between the central axes of any two simulated scraper conveyor middle troughs is 1°.

6. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine test platform for the fully-mechanized mining face according to claim 1, characterized in that The simulated hydraulic support has a lifting cylinder and a pushing cylinder powered by a hydraulic pump station.

7. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine experimental platform of the fully-mechanized mining face according to claim 6, characterized in that, When the simulated hydraulic support is fixed in place under the action of the pressure and friction of the simulated roof, the middle trough of the simulated scraper conveyor is pushed out or pulled back by pushing out or retracting the pushing cylinder.

8. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine experimental platform for the fully-mechanized mining face according to claim 6, characterized in that When the simulated hydraulic support is not under the action of the pressure and friction of the simulated roof, the simulated hydraulic support moves backward or forward by pushing out or retracting the pushing cylinder.

9. The automatic straightness adjustment test method for the fully-mechanized mining face based on the three-machine test platform for the fully-mechanized mining face according to claim 6, characterized in that, The electro-hydraulic control device of the hydraulic support controls the lifting cylinder on the simulated hydraulic support to lift and lower and the pushing cylinder to extend and retract.

10. The automatic adjustment test method for the straightness of the working face based on the three-machine experimental platform of the fully-mechanized mining face according to claim 1, characterized in that The electro-hydraulic control device of the hydraulic support is connected with a slave ultrasonic receiving and communication device, which is used to cooperate with the master ultrasonic transmitting and communication device on the simulated shearer to measure the relative position between the simulated shearer and the simulated hydraulic support, and at the same time is the receiving end of the data communication between the data processing unit and the electro-hydraulic control device.

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