An automatic deviation correction method and system for coal mining height of a coal mining machine and a storage medium

Abstract

The application relates to the technical field of coal mining machines, in particular to a coal mining machine mining height automatic deviation rectification method and system and a storage medium, which comprises the following steps: acquiring real-time attitude data of a coal mining machine; acquiring real-time inclination of a current working face, and judging whether the current working face is horizontal according to the inclination of the working face; if the working face is horizontal, calculating current actual mining height according to the attitude data of the coal mining machine; if the working face is not horizontal, calculating the current actual mining height according to the attitude data of the coal mining machine, calculating a roll angle of the coal mining machine according to the inclination of the working face, defining the roll angle of the coal mining machine as first reference data, and rectifying the current actual mining height according to the first reference data; acquiring real-time total use time of the coal mining machine, and acquiring second reference data according to the total use time of the coal mining machine; and performing real-time compensation on the current actual mining height according to the second reference data to obtain new current actual mining height. The application has the effect of reducing actual detection deviation of mining height.

Description

Technical Field

[0001] The present application relates to the technical field of coal mining machines, and in particular to a method, system and storage medium for automatic deviation correction of coal mining height of coal mining machines. Background Art

[0002] Coal mining machines are one of the key pieces of equipment for mechanizing and modernizing coal mining. Mechanized coal mining can reduce manual labor, improve safety, and achieve high output, high efficiency, and low consumption.

[0003] The shearer operates by riding on the face scraper conveyor with four sliding shoes. The two sliding shoes on the coal wall side are supported on the conveyor's coal shovel board, while the two sliding shoes on the gob side are supported on the conveyor's trough side, acting as guides to prevent the shearer from dislodging from the pin track. The sprockets in the traction drive unit engage with the pin row mounted on the central trough, providing power for the shearer's movement. The cutting unit, mounted at each end of the mainframe, consists of a rocker arm and a cutting drum. The rocker arm transmits power to the cutting drum, driving its rotation to enable the shearer to drop and load coal.

[0004] The mining height of a coal shearer indicates the actual mining height of the coal shearer. The mining height has a decisive influence on determining the overall structure of the coal shearer. It not only stipulates the thickness of the coal seam that the coal shearer is applicable to, but is also an important parameter for matching with the support equipment.

[0005] The adjustment of the mining height of the coal shearer is achieved by using an internal telescopic cylinder on the coal shearer to push the rocker arm to rotate around the fixed axis, thereby adjusting the height of the drum. Therefore, the mining height of the coal shearer can be determined by measuring the working angle of the rocker arm.

[0006] Generally speaking, considering the changes in coal seam thickness, roof subsidence, and floating coal, which will reduce the working face height, the coal seam thickness should not exceed 90%-95% of the maximum mining height of the coal shearer, nor should it be less than 110%-120% of the minimum mining height of the coal shearer. Therefore, during the coal mining process, the mining height of the coal shearer must be constantly monitored and limited to prevent the mining height of the coal shearer from exceeding or falling below the specified mining height. However, in the actual working environment of the coal shearer, there are two factors that will cause certain data deviations in the mining height detection of the coal shearer:

[0007] 1. Because the shearer has two directions of movement, one is the forward direction of the shearer, and the other is the advancement direction of the working face. Since the coal wall is not vertical, the working face generally has a certain inclination rather than a completely horizontal plane. Therefore, as the shearer advances towards the working face as it mines deeper, it will produce a certain deflection. This will cause the height of the shearer to change to a certain extent. This also results in the same rocker arm working angle corresponding to different mining heights.

[0008] 2. Due to the complex working conditions of the rocker arm, the articulated shaft structure and other components in the rocker arm will show certain wear after long-term use, and this wear will affect the normal mining height of the rocker arm of the coal mining machine. When a mining height is set, the rocker arm may not be able to work within the specified normal mining height due to its own parts module, resulting in deviation in the mining height. Summary of the Invention

[0009] In order to reduce the actual detection deviation of mining height, the present application provides a method, system and storage medium for automatic correction of mining height of a coal mining machine.

[0010] In the first aspect, the present application provides a method for automatically correcting the mining height of a coal mining machine, which adopts the following technical solutions:

[0011] A method for automatically correcting the mining height of a coal mining machine comprises the following steps:

[0012] Acquire the coal mining machine posture data in real time, wherein the posture data at least includes the coal mining machine travel distance, rocker arm rotation angle, rocker arm length, and drum height;

[0013] Acquire the inclination of the current working surface in real time, and determine whether the current working surface is horizontal based on the inclination of the working surface; if it is horizontal, calculate the current actual mining height based on the coal mining machine posture data;

[0014] If it is not level, the current actual mining height is calculated according to the coal mining machine posture data, and the roll angle of the coal mining machine is calculated according to the inclination of the working surface, and the roll angle of the coal mining machine is defined as the first reference data, and the current actual mining height is corrected according to the first reference data;

[0015] Acquire the total usage time of the coal shearer in real time, and acquire second reference data based on the total usage time of the coal shearer;

[0016] The current actual mining height is compensated in real time according to the second reference data to obtain a new current actual mining height.

[0017] Preferably, the real-time acquisition of the inclination of the current working surface comprises the following steps:

[0018] Obtaining horizontal coordinate information of the top roller and the bottom roller, wherein the horizontal coordinate information of the roller is represented by coordinate points on a horizontal plane obtained by mapping the roller in a vertical downward direction;

[0019] Determining the coordinate difference between the horizontal coordinate information of the top drum and the horizontal coordinate information of the bottom drum in a direction perpendicular to the traveling direction of the coal mining machine;

[0020] Determine whether the coordinate difference is 0;

[0021] If it is 0, the inclination is 0;

[0022] If it is not 0, the inclination of the working surface is calculated based on the absolute value of the coordinate difference and the height difference between the top roller and the bottom roller.

[0023] Preferably, calculating the current actual mining height according to the coal mining machine posture data includes the following steps:

[0024] The actual mining height includes the actual high mining height and the actual low mining height, wherein:

[0025] The calculation formula for the actual high-level mining height is:

[0026] Wherein, θ represents the rocker arm rotation angle corresponding to the top roller, L1 represents the rocker arm length corresponding to the top roller, and h1 represents the roller height of the top roller;

[0027] The calculation formula for the actual low-level mining height is:

[0028] Wherein, L2 represents the rocker arm length corresponding to the bottom roller, and h2 represents the roller height of the bottom roller.

[0029] Preferably, correcting the current actual mining height according to the first reference data comprises the following steps:

[0030] Obtaining a mapping of the current actual mining height on a vertical plane after tilting according to the roll angle of the coal mining machine, and obtaining a mining height loss amount according to the mapping;

[0031] A corresponding compensation angle is calculated according to the amount of mining height loss, and the angle of the rocker arm is adjusted according to the compensation angle to compensate for the current actual mining height.

[0032] Preferably, obtaining the total usage time of the coal shearer in real time and obtaining the second reference data based on the total usage time of the coal shearer includes the following steps:

[0033] Obtaining an influence coefficient of each component based on the total usage time of the shearer, wherein the influence coefficient of each component represents the wear possibility, damage possibility, and mining height impact possibility of each component in the shearer according to the total usage time of the shearer;

[0034] Historical warranty information of each component of the coal mining machine is obtained, and corresponding second reference data is obtained according to the historical warranty information of each component of the coal mining machine and the influence coefficient of each component.

[0035] Preferably, performing real-time compensation on the current actual mining height according to the second reference data to obtain a new current actual mining height comprises the following steps:

[0036] determining whether the second reference data is positive compensation data or negative compensation data;

[0037] If it is positive compensation data, the current actual mining height will be added with the corresponding compensation value;

[0038] If it is negative compensation data, the current actual sampling height will be subtracted from the corresponding compensation value.

[0039] Preferably, after the current actual mining height is compensated in real time, the following steps are also included:

[0040] Obtaining preset limited mining height values, wherein the limited mining height values ​​include a maximum limited mining height value and a minimum limited mining height value;

[0041] Determine whether the new current actual mining height obtained after compensation is greater than the maximum limited mining height value or less than the minimum limited mining height value;

[0042] If so, stop compensating for the current actual height and output a corresponding alarm signal.

[0043] In a second aspect, the present application provides a coal mining machine automatic deviation correction system, which adopts the following technical solutions:

[0044] A coal mining machine automatic deviation correction system includes a posture data detection module, a working face inclination detection module and a processing module, wherein:

[0045] The posture data detection module is used to collect the coal mining machine posture data, and the processing module is used to obtain the coal mining machine posture data in real time. The posture data at least includes the coal mining machine travel distance, rocker arm rotation angle, rocker arm length, and drum height;

[0046] The working surface inclination detection module is used to detect the inclination of the working surface, and the processing module is used to obtain the inclination of the current working surface in real time and determine whether the current working surface is horizontal according to the inclination of the working surface;

[0047] If it is horizontal, the current actual mining height is calculated based on the coal mining machine posture data;

[0048] If it is not level, the current actual mining height is calculated according to the coal mining machine posture data, and the roll angle of the coal mining machine is calculated according to the inclination of the working surface, and the roll angle of the coal mining machine is defined as the first reference data, and the current actual mining height is corrected according to the first reference data;

[0049] The processing module is also used to obtain the total usage time of the coal mining machine in real time, and obtain second reference data based on the total usage time of the coal mining machine; and compensate the current actual mining height in real time based on the second reference data to obtain a new current actual mining height.

[0050] In a third aspect, the present application provides a computer storage medium, which adopts the following technical solution:

[0051] A computer storage medium stores a computer program, which, when executed by a processor, implements the above-mentioned automatic deviation correction method for the mining height of a coal mining machine.

[0052] In summary, this application has the following beneficial technical effects:

[0053] This application obtains the roll angle of the coal mining machine by judging the inclination of the working face when the coal mining machine is working, and makes corresponding corrections to the current actual mining height according to the roll angle, and also makes corresponding compensation to the current actual mining height according to the total usage time of the coal mining machine, so as to make the measurement of the mining height more accurate, reduce the impact of the working face inclination and component wear on the actual mining height, and reduce the actual detection deviation of the mining height. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the overall process of the embodiment of the present application. DETAILED DESCRIPTION

[0055] The following is combined with Figure 1 This application is described in further detail.

[0056] The embodiment of the present application discloses a method for automatically correcting the mining height of a coal mining machine.

[0057] like Figure 1 As shown, a method for automatically correcting the mining height of a coal mining machine includes:

[0058] S100, real-time acquisition of coal mining machine posture data.

[0059] The coal mining machine posture data includes at least the coal mining machine travel distance, rocker arm rotation angle, rocker arm length, and drum height. It can also include the travel direction and coal mining machine rotation angle.

[0060] Among them, the rocker arm angle refers to the angle between the rocker arm and the horizontal plane, the height of the drum is the diameter of the drum, and the shearer angle refers to the angle between the shearer and the horizontal plane.

[0061] The travel course of the coal mining machine can be known according to the preset PLC control system. The corresponding travel position can be obtained by multiplying its moving speed in the program by its working time. The rocker arm angle, coal mining machine angle, etc. are all measured by corresponding angle sensors. The rocker arm length, drum height and other information can be obtained according to its model description or operation manual when the coal mining machine is put into use.

[0062] S200 , obtaining the inclination of the current working surface in real time, and determining whether the current working surface is horizontal based on the inclination of the working surface.

[0063] Ideally, the coal wall is a vertical surface, so the working face of the coal shearer is a horizontal surface, so that the coal shearer works on a horizontal surface toward the coal wall to mine coal. However, in most cases, the coal wall is not a vertical surface, and the coal seam is inclined. At this time, in order to facilitate mining, the coal shearer will be tilted to a certain extent. At this time, the working face of the coal shearer is no longer a horizontal surface. Whether the working face is a horizontal surface will affect whether the mining height measured in the current environment needs to be corrected. Therefore, it is necessary to detect the inclination of the working face in real time.

[0064] The specific steps include:

[0065] S210, obtaining horizontal coordinate information of the top roller and horizontal coordinate information of the bottom roller.

[0066] The horizontal coordinate information of the drum is represented by the coordinate points on the horizontal plane obtained by mapping the drum in a vertical downward direction.

[0067] Generally, coal mining machines have two sets of mining tools, that is, two sets of rollers, rocker arms, and drive parts. One roller is located at the upper end and the other roller is used at the lower end. Coal walls at two heights can be mined at the same time.

[0068] Simultaneously obtain the horizontal coordinates of both rollers. Horizontal coordinates typically consist of two numerical values: one representing the shearer's forward direction and the other representing the shearer's working surface. Regardless of any deviation between the two rollers, the two rollers can be mapped onto a horizontal plane along the numerical direction to obtain a planar coordinate point.

[0069] S220, calculating the coordinate difference between the horizontal coordinate information of the top drum and the horizontal coordinate information of the bottom drum along the direction perpendicular to the traveling direction of the coal mining machine.

[0070] The direction of the working face perpendicular to the direction of travel of the coal mining machine is the ideal situation. It is called an ideal situation because the ideal working face should remain horizontal when the coal mining machine is working.

[0071] The difference between the two coordinates perpendicular to the shearer's travel direction represents the distance between the two rollers. Since one roller is at a high point and the other at a low point, if a rectangular border is generated with these two rollers as the two opposite vertices, the roller at the high point will be at the top of the rectangle, and the roller at the low point will be at the bottom. If the working surface is horizontal, there will be no deviation between the horizontal coordinate points of the two rollers. In other words, the top of the rectangle will coincide with the bottom when projected downward. The coordinate difference calculated by this method can be used to verify whether the two edges can be coincident.

[0072] S230: Determine whether the coordinate difference is 0.

[0073] S240, if it is 0, the inclination is 0; if it is not 0, the inclination of the working surface is calculated based on the absolute value of the coordinate difference and the height difference between the top roller and the bottom roller.

[0074] If the coordinate information of the top roller is (10, 4) and the coordinate information of the bottom roller is (15, 4), where the former value is the coordinate in the direction of travel of the coal mining machine and the other value is the coordinate in the direction of the working surface of the coal mining machine, then the coordinate difference between the two coordinate information perpendicular to the direction of travel is 0, which means that the positions of the two rollers perpendicular to the direction of travel are in the same vertical plane, then their working surfaces are horizontal and the inclination is 0. It should be noted that the inclination in the embodiment of the present application is based on the horizontal position as the initial position.

[0075] If the coordinates of the top roller are (10, 4) and the bottom roller are (15, 6), the coordinate difference is 2. This indicates that the shearer has deflected, causing the two rollers to be off-plane. The degree of inclination must be calculated. The inclination is calculated by dividing the absolute value of the coordinate difference by the height difference between the two rollers, where the height of the two rollers is known.

[0076] S300: If it is horizontal, the current actual mining height is calculated based on the coal mining machine posture data.

[0077] The actual mining height includes the actual high mining height and the actual low mining height.

[0078] The calculation formula for the actual high-level mining height is:

[0079] Among them, θ represents the rocker arm rotation angle corresponding to the top roller, L1 represents the rocker arm length corresponding to the top roller, and h1 represents the roller height of the top roller.

[0080] The calculation formula for the actual low-level mining height is:

[0081] Among them, L2 represents the rocker arm length corresponding to the bottom roller, and h2 represents the roller height of the bottom roller.

[0082] If the working surface is horizontal, there will be no deviation in the mining height due to shearer deflection, so the mining height can be calculated directly. However, because there are two rollers, one for collecting the upper and lower coal walls, there will be two mining heights: a higher one and a lower one.

[0083] It is also necessary to obtain the height information of the working surface. The height information of the working surface is known in advance when it is installed and put into use. Finally, the first mining height data needs to be added to the height of the working surface to obtain the actual high-level mining height, and the second mining height data needs to be subtracted from the height of the working surface to obtain the actual low-level mining height.

[0084] S400, if it is not level, the current actual mining height is calculated based on the coal mining machine posture data, and the roll angle of the coal mining machine is calculated based on the inclination of the working surface, and the roll angle of the coal mining machine is defined as the first reference data, and the current actual mining height is corrected based on the first reference data.

[0085] If the working face is not level, the shearer's roll angle must be calculated alongside the actual mining height. The shearer's tilt angle along the working face is defined as a datum x, and along the working face's advancement direction is defined as another datum y. The angle between the shearer and the y datum is the roll angle.

[0086] The formula for calculating the roll angle is: Among them, α is the roll angle, a is the coordinate of the top roller in the horizontal coordinate information perpendicular to the direction of travel of the coal shearer, b is the coordinate of the bottom roller in the horizontal coordinate information perpendicular to the direction of travel of the coal shearer, and h' is the height difference between the two rollers.

[0087] After calculating the roll angle, a first reference value is obtained based on the roll angle, and the current mining height is corrected based on the different first reference data. Different roll angles correspond to different correction values, and their relative relationship is pre-assigned. Generally speaking, the larger the roll angle, the greater the mining height that needs to be compensated, because the larger the roll angle, the more mining height is lost.

[0088] Specifically include:

[0089] S410 , obtaining a mapping of the current actual mining height on a vertical plane after tilting according to the roll angle of the shearer, and obtaining a mining height loss amount according to the mapping.

[0090] For example, if the specified mining height is 5, after the coal mining machine has been tilted to a certain extent, its current actual mining height on the vertical plane may become 4, then the mining height loss is 1, which means that the mining height of 1 needs to be compensated.

[0091] S420, calculating a corresponding compensation angle according to the amount of mining height loss, and adjusting the angle of the rocker arm according to the compensation angle to compensate for the current actual mining height.

[0092] When the rocker arm is adjusted to different angles, the height of the roller will change accordingly, so the mining height can be compensated accordingly.

[0093] S500: Acquire the total usage time of the coal shearer in real time, and acquire second reference data based on the total usage time of the coal shearer.

[0094] The total time a shearer is in use affects the accuracy of its components. As the time goes by, the components become older, leading to errors in the movement and control of the rocker arm. Therefore, it is necessary to determine the impact of the shearer's total time in use on the shearer's cutting height measurement. This involves the following steps:

[0095] S510: Obtain the influence coefficient of each component according to the total usage time of the coal mining machine.

[0096] The influence coefficient of each component is represented by the wear possibility, damage possibility and mining height impact possibility of each component in the coal mining machine according to the total length of use of the coal mining machine.

[0097] S520: Obtain historical warranty information of each component of the coal shearer, and obtain corresponding second reference data based on the historical warranty information of each component of the coal shearer and the influence coefficient of each component.

[0098] If a component has a longer service life and more warranty periods, then the impact of the component on the mining height will be greater, and its second reference data will be larger. Conversely, if a component has a shorter service life and fewer warranty periods, then the impact of the component on the mining height will be smaller.

[0099] S600: Perform real-time compensation on the current actual mining height according to the second reference data to obtain a new current actual mining height.

[0100] Specifically include:

[0101] S610 , determining whether the second reference data is positive compensation data or negative compensation data.

[0102] S620: If it is positive compensation data, then the current actual mining height is added with the corresponding compensation value.

[0103] S630: If it is reverse compensation data, the current actual mining height is subtracted from the corresponding compensation value.

[0104] When the rocker arm, fixed axis, driving parts and other components that affect the mining height adjustment are worn out due to long-term use, the impact of the mining height caused by the wear may be a positive impact or a negative impact. The positive impact is characterized by the fact that when the mining height needs to be adjusted to a certain height, the mining height cannot be fully or ideally obtained due to the wear of the components. At this time, positive compensation is required, that is, adding a corresponding compensation value to the current actual mining height. The negative impact is characterized by the fact that when the mining height needs to be adjusted to a certain height, the mining height will exceed the desired mining height due to the wear of the components, that is, over-adjustment. At this time, corresponding reverse compensation is required, that is, subtracting the current actual mining height from the corresponding compensation value.

[0105] What kind of components will have what kind of wear and what kind of compensation situation will occur? This can be observed, experimented, and defined based on the actual use of the coal mining machine, and corresponding adjustments can be made based on the specific situation.

[0106] After the current actual mining height is compensated in real time, the following steps are also included:

[0107] S700: Obtain preset limited mining height values, where the limited mining height values ​​include a maximum limited mining height value and a minimum limited mining height value.

[0108] S710: Determine whether the new current actual mining height obtained after compensation is greater than the maximum limited mining height value or less than the minimum limited mining height value.

[0109] S720: If yes, stop compensating for the current actual mining height and output a corresponding alarm signal.

[0110] The limited mining height value is represented by the maximum and minimum mining height values ​​allowed in the mining task. If the current mining height value is greater than the maximum mining height value or less than the minimum mining height value, a corresponding safety accident may occur. Therefore, when this happens, it is necessary to stop the compensation for the current actual mining height and output the corresponding alarm signal to remind the corresponding staff.

[0111] The present application also discloses a coal mining machine automatic correction system, which includes a posture data detection module, a working surface inclination detection module and a processing module, wherein the posture data detection module is used to collect the coal mining machine posture data, and the processing module is used to obtain the coal mining machine posture data in real time, and the posture data at least includes the coal mining machine travel distance, rocker arm rotation angle, rocker arm length, and drum height;

[0112] The working surface inclination detection module is used to detect the inclination of the working surface, and the processing module is used to obtain the inclination of the current working surface in real time and determine whether the current working surface is horizontal based on the inclination of the working surface;

[0113] If it is horizontal, the current actual mining height is calculated based on the coal mining machine posture data;

[0114] If not horizontal, the current actual mining height is calculated according to the shearer posture data, the roll angle of the shearer is calculated according to the inclination of the working face, the roll angle of the shearer is defined as the first reference data, and the current actual mining height is corrected according to the first reference data;

[0115] The processing module is also used to acquire the total duration of use of the shearer in real time, and acquire the second reference data according to the total duration of use of the shearer; and the current actual mining height is compensated in real time according to the second reference data to obtain a new current actual mining height.

[0116] The application also discloses a computer storage medium, which stores a computer program, and the computer program is executed by a processor to realize the automatic correction method for the mining height of the shearer.

[0117] The implementation principle is:

[0118] The application acquires the roll angle of the shearer by judging the inclination of the working face when the shearer works, and corrects the current actual mining height according to the roll angle, and also compensates the current actual mining height according to the total duration of use of the shearer, so that the measurement of the mining height is more accurate, the influence of the inclination of the working face and the wear of the parts on the actual mining height is reduced, and the actual detection deviation of the mining height is reduced.

[0119] The above are preferred embodiments of the application, and do not limit the protection scope of the application, so: all equivalent changes made according to the structure, shape, principle of the application should be covered within the protection scope of the application.

Claims

1. A method for automatically correcting the mining height of a coal mining machine, characterized in that: The following steps are involved: Acquire the coal shearer posture data in real time, wherein the coal shearer posture data includes at least the coal shearer travel distance, rocker arm rotation angle, rocker arm length, and drum height; Acquire the inclination of the current working surface in real time, and determine whether the current working surface is horizontal based on the inclination of the working surface; if it is horizontal, calculate the current actual mining height based on the coal mining machine posture data; If it is not level, the current actual mining height is calculated according to the coal mining machine posture data, and the roll angle of the coal mining machine is calculated according to the inclination of the working surface, and the roll angle of the coal mining machine is defined as the first reference data, and the current actual mining height is corrected according to the first reference data; Acquire the total usage time of the coal shearer in real time, and acquire second reference data based on the total usage time of the coal shearer; Performing real-time compensation on the current actual mining height according to the second reference data to obtain a new current actual mining height; Acquiring the total usage time of the coal shearer in real time and acquiring second reference data based on the total usage time of the coal shearer includes the following steps: Obtaining an influence coefficient of each component based on the total usage time of the shearer, wherein the influence coefficient of each component represents the wear possibility, damage possibility, and mining height impact possibility of each component in the shearer according to the total usage time of the shearer; Obtaining historical warranty information of each component of the coal mining machine, and obtaining corresponding second reference data based on the historical warranty information of each component of the coal mining machine and the influence coefficient of each component; If a component is used for a longer time and has more warranty times, the impact of the component on the mining height will be greater, and the second reference data of the component will be larger; conversely, if a component is used for a shorter time and has fewer warranty times, the impact of the component on the mining height will be smaller; Performing real-time compensation on the current actual mining height according to the second reference data to obtain a new current actual mining height includes the following steps: determining whether the second reference data is positive compensation data or negative compensation data; If it is positive compensation data, the current actual mining height will be added with the corresponding compensation value; If it is negative compensation data, the current actual mining height will be subtracted from the corresponding compensation value; When the components that affect the adjustment of the mining height are worn out due to the length of use, the impact of the mining height caused by the wear is either a positive impact or a negative impact; the positive impact is characterized by the fact that when the mining height needs to be adjusted to a certain height, the mining height cannot be fully or ideally obtained due to the wear of the components. At this time, positive compensation is required, that is, adding the corresponding compensation value to the current actual mining height; the negative impact is characterized by the fact that when the mining height needs to be adjusted to a certain height, the mining height exceeds the desired mining height due to the wear of the components. At this time, reverse compensation is required, that is, subtracting the corresponding compensation value from the current actual mining height.

2. The method for automatically correcting the mining height of a coal mining machine according to claim 1, characterized in that: The real-time acquisition of the inclination of the current working surface comprises the following steps: Obtaining horizontal coordinate information of the top roller and the bottom roller, wherein the horizontal coordinate information of the roller is represented by coordinate points on a horizontal plane obtained by mapping the roller in a vertical downward direction; Calculating the coordinate difference between the horizontal coordinate information of the top drum and the horizontal coordinate information of the bottom drum along the direction perpendicular to the traveling direction of the coal mining machine; Determine whether the coordinate difference is 0; If it is 0, the inclination is 0; If it is not 0, the inclination of the working surface is calculated based on the absolute value of the coordinate difference and the height difference between the top roller and the bottom roller.

3. The method for automatically correcting the mining height of a coal mining machine according to claim 1, characterized in that: Calculating the current actual mining height according to the coal mining machine posture data includes the following steps: The actual mining height includes the actual high mining height and the actual low mining height, wherein: The calculation formula for the actual high-level mining height is: Wherein, θ represents the rocker arm rotation angle corresponding to the top roller, L1 represents the rocker arm length corresponding to the top roller, h1 represents the roller height of the top roller, and H^ represents the working surface height; The calculation formula for the actual low-level mining height is: Wherein, L2 represents the rocker arm length corresponding to the bottom roller, and h2 represents the roller height of the bottom roller.

4. The method for automatically correcting the mining height of a coal mining machine according to claim 2, characterized in that: Correcting the current actual mining height according to the first reference data includes the following steps: Obtaining a mapping of the current actual mining height on a vertical plane after tilting according to the roll angle of the shearer, and obtaining a mining height loss amount according to the mapping; A corresponding compensation angle is calculated according to the amount of mining height loss, and the angle of the rocker arm is adjusted according to the compensation angle to compensate for the current actual mining height.

5. The method for automatically correcting the mining height of a coal mining machine according to claim 1, characterized in that: After the current actual mining height is compensated in real time, the following steps are also included: Obtaining preset limited mining height values, wherein the limited mining height values ​​include a maximum limited mining height value and a minimum limited mining height value; Determine whether the new current actual mining height obtained after compensation is greater than the maximum limited mining height value or less than the minimum limited mining height value; If so, stop compensating for the current actual height and output a corresponding alarm signal.

6. An automatic deviation correction system for coal mining machine, characterized by: It includes a posture data detection module, a working surface inclination detection module and a processing module, wherein: The posture data detection module is used to collect the coal mining machine posture data, and the processing module is used to obtain the coal mining machine posture data in real time. The posture data at least includes the coal mining machine travel distance, rocker arm rotation angle, rocker arm length, and drum height; The working surface inclination detection module is used to detect the inclination of the working surface, and the processing module is used to obtain the inclination of the current working surface in real time and determine whether the current working surface is horizontal according to the inclination of the working surface; If it is horizontal, the current actual mining height is calculated based on the coal mining machine posture data; If it is not level, the current actual mining height is calculated according to the coal mining machine posture data, and the roll angle of the coal mining machine is calculated according to the inclination of the working surface, and the roll angle of the coal mining machine is defined as the first reference data, and the current actual mining height is corrected according to the first reference data; The processing module is further configured to obtain the total usage time of the coal shearer in real time, and obtain second reference data based on the total usage time of the coal shearer; compensate the current actual mining height in real time based on the second reference data to obtain a new current actual mining height; and obtain the total usage time of the coal shearer in real time, and obtain second reference data based on the total usage time of the coal shearer, including the following steps: Obtaining an influence coefficient of each component based on the total usage time of the shearer, wherein the influence coefficient of each component represents the wear possibility, damage possibility, and mining height impact possibility of each component in the shearer according to the total usage time of the shearer; Obtaining historical warranty information of each component of the coal mining machine, and obtaining corresponding second reference data based on the historical warranty information of each component of the coal mining machine and the influence coefficient of each component; If a component is used for a longer time and has more warranty times, the impact of the component on the mining height will be greater, and the second reference data of the component will be larger; conversely, if a component is used for a shorter time and has fewer warranty times, the impact of the component on the mining height will be smaller; Performing real-time compensation on the current actual mining height according to the second reference data to obtain a new current actual mining height includes the following steps: determining whether the second reference data is positive compensation data or negative compensation data; If it is positive compensation data, the current actual mining height will be added with the corresponding compensation value; If it is negative compensation data, the current actual mining height will be subtracted from the corresponding compensation value; When the components that affect the adjustment of the mining height are worn out due to the length of use, the impact of the mining height caused by the wear is either a positive impact or a negative impact; the positive impact is characterized by the fact that when the mining height needs to be adjusted to a certain height, the mining height cannot be fully or ideally obtained due to the wear of the components. At this time, positive compensation is required, that is, adding the corresponding compensation value to the current actual mining height; the negative impact is characterized by the fact that when the mining height needs to be adjusted to a certain height, the mining height exceeds the desired mining height due to the wear of the components. At this time, reverse compensation is required, that is, subtracting the corresponding compensation value from the current actual mining height.

7. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for automatically correcting the mining height of a coal mining machine according to any one of claims 1 to 5 is implemented.

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