Hydraulic support pushing cylinder pushing position accurate sensing method for fully mechanized coal mining face

Abstract

A kind of accurate sensing control method of hydraulic support pushing cylinder pushing position of fully mechanized coal face, it is related to the field of mining machinery control technology.The method includes: selecting target point of pushing rod and connecting rod, setting monitoring point on the base of hydraulic support and pushing rod, establishing coordinate system and determining the coordinates of each monitoring point;Using the distance measurement of wire drawing sensor, establishing the equation of coordinate point, solving the equation according to the constraint target point, obtaining coordinate point;Determine the mapping of target point to each base of hydraulic support coordinate system, judge whether to continue pushing according to the result.In addition, the accuracy change caused by the deformation of pushing rod can be corrected by mutual distance calibration, the deformation of pushing rod can be controlled by setting reinforcing plate inside the pushing rod, and the pushing rod is prevented from deflecting by setting coal baffle on both sides of the pushing rod.The method can accurately sense and control the position of pushing cylinder, and further more accurately control the pushing and moving of fully mechanized coal face.

Description

Technical Field

[0001] This invention relates to the field of mining machinery control technology, and in particular to a method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face. Background Technology

[0002] A fully mechanized mining face is equipped with a coal mining machine, a scraper conveyor, and hydraulic supports. The production capacity of the coal mining machine and the scraper conveyor should meet the output requirements of the working face. The height adjustment range of the coal mining machine and the hydraulic supports should adapt to the thickness and variation of the coal seam, and the moving speed of the hydraulic supports should keep up with the traction speed of the coal mining machine. The coal mining machine relies on the scraper conveyor for guidance and movement, the scraper conveyor relies on the hydraulic supports for propulsion, and the hydraulic supports in turn rely on the scraper conveyor for support and movement. To achieve maximum productivity and safe production in the fully mechanized mining face, the coal mining machine, scraper conveyor, and hydraulic supports must be mutually compatible in terms of performance, structure, working face space requirements, connection methods, strength, and dimensions.

[0003] In existing technologies, the pushing and shifting processes of the hydraulic support in fully mechanized mining faces are achieved through pushing cylinders, pushing rods, and connecting rods. However, significant connection errors exist between the pushing cylinders and the pushing rods, the pushing rods and the connecting rods, and the connecting rods and the central chute, resulting in non-ideal connections. Traditional methods that rely on monitoring the stroke of the pushing cylinders to sense the position of the central chute cannot overcome these connection errors and cannot accurately sense and control the position of the pushing cylinders. Therefore, further improvements are needed to the sensing and control methods for the pushing position of the hydraulic support pushing cylinders in fully mechanized mining faces. Summary of the Invention

[0004] In order to accurately sense and control the position of the pushing cylinder, and thus more accurately control the pushing and moving of the hydraulic support in the longwall mining face, this invention provides a method for accurately sensing and controlling the pushing position of the pushing cylinder of the hydraulic support in the longwall mining face. The specific technical solution is as follows.

[0005] A method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face, comprising the following steps:

[0006] S1. Select the target points for the push rod and the connecting rod;

[0007] S2. Set monitoring points on the hydraulic support base and push rod;

[0008] S3. Establish a coordinate system and determine the coordinates of each monitoring point, and establish mathematical equations based on the distance relationships;

[0009] S4. Use a pull-wire sensor to measure the distance between the target point on the push rod and the monitoring point on the support base, constrain the height of the target point on the push rod, and solve for the coordinates of the target point on the push rod;

[0010] S5. Based on the distance relationship between the target point on the push rod and the monitoring point on the push rod, constrain the height value of the monitoring point on the push rod, and calculate and determine the coordinates of the monitoring point on the push rod;

[0011] S6. Determine the coordinates of the target point on the connecting rod by using the coordinates of the monitoring point on the push rod, constrain the value of the target point on the push rod, and solve to determine the coordinates of the target point on the connecting rod.

[0012] S7. Using the coordinates of the target point on the connecting rod as the monitoring point, obtain the coordinates of the final target point and determine the mapping from the target point to the coordinate system of each hydraulic support base;

[0013] S8. Read the coordinates to determine whether the hydraulic support of the fully mechanized mining face should continue to push the slide.

[0014] Preferably, the target points selected by the push rod include O1, O2, and O3, where O1 points to monitoring points a1, a2, and a3 on the hydraulic support base, O2 points to monitoring points a4, a5, and a6 on the hydraulic support base, and O3 points to monitoring points a7, a8, and a9 on the hydraulic support base.

[0015] Preferably, the target points selected for the connecting rod include O4, O5, and O6; wherein O4 points to monitoring points b1, b2, and b3 on the push rod, O5 points to monitoring points b4, b5, and b6 on the push rod, and O6 points to monitoring points b7, b8, and b9 on the push rod.

[0016] Preferably, the origin of the coordinate system is selected as the center position of the hydraulic support base, and the coordinates of the monitoring points on the hydraulic support base are:

[0017] a1(a1x,a1y,a1z),a2(a2x,a2y,a2z),a3(a3x,a3y,a3z)

[0018] a4(a4x,a4y,a4z),a5(a5x,a5y,a5z),a6(a6x,a6y,a6z)

[0019] a7(a7x,a7y,a7z),a8(a8x,a8y,a8z),a9(a9x,a9y,a9z)

[0020] The distance from O1 to a1 is l a1 The distance from O1 to a2 is l a2 The distance from O1 to a3 is l a3 The distance from O2 to a4 is l a4 The distance from O2 to a5 is l a5 The distance from O2 to a6 is l a6 The distance from O3 to a7 is l a7 The distance from O3 to a8 is la8 The distance from O3 to a8 is l a9 ;

[0021] The mathematical equation is established as follows:

[0022]

[0023] Solve the mathematical equations, constrain the height values ​​of points O1, O2, and O3, and obtain the precise coordinates of points O1, O2, and O3.

[0024] Preferably, the coordinates of the monitoring point on the push rod are:

[0025] b1(b1x,b1y,b1z),b2(b2x,b2y,b2z),b3(b3x,b3y,b3z)

[0026] b4(b4x,b4y,b4z),b5(b5x,b5y,b5z),b6(b6x,b6y,b6z)

[0027] b7(b7x,b7y,b7z),b8(b8x,b8y,b8z),b9(b9x,b9y,b9z)

[0028] The distance from O1 to b1 is l b11 The distance from O1 to b2 is l b12 The distance from O1 to b3 is l b13 The distance from O2 to b1 is l b21 The distance from O2 to b2 is l b22 The distance from O2 to b3 is l b23 The distance from O3 to b1 is l b31 The distance from O3 to b2 is l b32 The distance from O3 to b3 is l b33 ;

[0029] The mathematical equation is established as follows:

[0030]

[0031]

[0032]

[0033] Solve the mathematical equation, constrain the height values ​​of points b1, b2, and b3, and obtain the precise coordinates of points b1, b2, and b3;

[0034] Continue calculating to determine the precise coordinates of b4, b5, b6, b7, b8, and b9.

[0035] Preferably, after determining the precise coordinates of b1, b2, b3, b4, b5, b6, b7, b8, and b9, the coordinates of O4, O5, and O6 are calculated and determined.

[0036] The distance from O4 to b1 is l b41 The distance from O4 to b2 is l b42 The distance from O4 to b3 is l b43 The distance from O5 to b1 is l b51 The distance from O5 to b2 is l b52 The distance from O5 to b3 is l b53 The distance from O6 to b1 is l b61 The distance from O6 to b2 is l b62 The distance from O6 to b3 is l b63 ;

[0037] Satisfy the following equation:

[0038]

[0039]

[0040]

[0041] Preferably, the coordinates of the final target point O7 are determined by using the coordinates of O4, O5, and O6 as monitoring points; the coordinates of the working face chute node group relative to the coordinate system of the first support are described, and the coordinates of the chute node group are read in real time to determine the moving position of the hydraulic support.

[0042] Preferably, the deformation of the push rod is checked using the precise coordinates of points O1, O2, and O3, wherein the distance from O1 to O2 is l. O12 The distance from O1 to O3 is l O13 It satisfies the distance formula:

[0043]

[0044] If l is detected O12 l O13 Distance from reality If there is an error, the accuracy will be corrected.

[0045] A further preferred embodiment includes a reinforcing plate inside the push rod to control its deformation, a pull-wire sensor inside the push rod, and an observation window on the side of the push rod.

[0046] A further preferred embodiment is to install coal-blocking plates on both sides of the push rod to block floating coal and prevent the push rod from deflecting.

[0047] The beneficial effects of the precise sensing and control method for the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face provided by this invention are that, by reasonably determining the coordinate system and selecting the target point and monitoring point, the method can accurately sense and control the position of the pushing cylinder, thereby achieving precise control; in addition, the method can also check the deformation problem of the pushing rod, and the measurement of the wire sensor is more flexible and convenient. Attached Figure Description

[0048] Figure 1 This is a diagram illustrating the selection of target points;

[0049] Figure 2 This is a schematic diagram showing the selection of monitoring points;

[0050] Figure 3 This is a schematic diagram of the push rod structure;

[0051] Figure 4 This is the top view of the push rod;

[0052] Figure 5 This is a flowchart of a method for precisely sensing and controlling the displacement position of hydraulic support cylinders in a fully mechanized mining face.

[0053] In the diagram: 1-connecting rod, 2-pushing rod, 3-hydraulic support base, 4-reinforcing plate, 5-observation window, 6-coal retaining plate, 7-single chute. Detailed Implementation

[0054] Combination Figures 1 to 5 As shown, a specific implementation method for the precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face provided by the present invention will be described.

[0055] A method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face, comprising the following steps:

[0056] S1. Select target points for the push rod and connecting rod; specifically, select target points O1, O2, and O3 at the rear of the push rod; and select target points O4, O5, and O6 at the rear of the connecting rod, as shown below. Figure 1 As shown.

[0057] S2. Set monitoring points on the hydraulic support base and push rod;

[0058] Specifically, the target points selected for the push rod include O1, O2, and O3. O1 selects three monitoring points pointing to monitoring points a1, a2, and a3 on the hydraulic support base; O2 selects three monitoring points pointing to monitoring points a4, a5, and a6 on the hydraulic support base; and O3 selects three monitoring points pointing to monitoring points a7, a8, and a9 on the hydraulic support base. The target points selected for the connecting rod include O4, O5, and O6. O4 selects three monitoring points pointing to monitoring points b1, b2, and b3 on the push rod; O5 selects three monitoring points pointing to monitoring points b4, b5, and b6 on the push rod; and O6 selects three monitoring points pointing to monitoring points b7, b8, and b9 on the push rod. For example... Figure 2 As shown.

[0059] S3. Establish a coordinate system and determine the coordinates of each monitoring point, and establish mathematical equations based on the distance relationships;

[0060] The origin of the coordinate system is selected at the center of the hydraulic support base, and the coordinates of the monitoring points on the hydraulic support base are:

[0061] a1(a1x,a1y,a1z),a2(a2x,a2y,a2z),a3(a3x,a3y,a3z)

[0062] a4(a4x,a4y,a4z),a5(a5x,a5y,a5z),a6(a6x,a6y,a6z)

[0063] a7(a7x,a7y,a7z),a8(a8x,a8y,a8z),a9(a9x,a9y,a9z)

[0064] The distance from O1 to a1 is l a1 The distance from O1 to a2 is l a2 The distance from O1 to a3 is l a3 The distance from O2 to a4 is l a4 The distance from O2 to a5 is l a5 The distance from O2 to a6 is l a6 The distance from O3 to a7 is l a7 The distance from O3 to a8 is l a8 The distance from O3 to a8 is l a9 ;

[0065] The mathematical equation is established as follows:

[0066]

[0067] Solve the mathematical equations, constrain the height values ​​of points O1, O2, and O3, and obtain the precise coordinates of points O1, O2, and O3.

[0068] In the above system of equations, the distance l from O1 to a1 a1 The distance l from O1 to a2 a2 The distance l from O1 to a3 a3 The distance from O2 to a4 is l a4 The distance l from O2 to a5 a5 The distance l from O2 to a6 a6 The distance l from O3 to a7 a7 The distance l from O3 to a8 a8 The distance l from O3 to a8 a9 The coordinates are measured by a wire sensor. Each equation set above contains only coordinate variables corresponding to the three quantities O1, O2, and O3. Each set has three equations and three unknowns. Due to the involvement of square terms, six solutions can be obtained. However, during actual movement, the spatial position of the push rod is relatively fixed. By constraining the height of the target points (O1, O2, O3), three precise solutions can be obtained for each equation set. Thus, the precise coordinates of O1, O2, and O3 under the current support can be obtained.

[0069] S4. Use a pull-wire sensor to measure the distance between the target point on the push rod and the monitoring point on the support base, constrain the height of the target point on the push rod, and solve for the coordinates of the target point on the push rod;

[0070] Based on O1, O2, and O3, the coordinates of the nine points in the support base coordinate system are determined respectively. The coordinates of the monitoring point on the push rod are:

[0071] b1(b1x,b1y,b1z),b2(b2x,b2y,b2z),b3(b3x,b3y,b3z)

[0072] b4(b4x,b4y,b4z),b5(b5x,b5y,b5z),b6(b6x,b6y,b6z)

[0073] b7(b7x,b7y,b7z),b8(b8x,b8y,b8z),b9(b9x,b9y,b9z)

[0074] The distance from O1 to b1 is l b11 The distance from O1 to b2 is l b12 The distance from O1 to b3 is l b13 The distance from O2 to b1 is l b21 The distance from O2 to b2 is l b22 The distance from O2 to b3 is l b23 The distance from O3 to b1 is l b31 The distance from O3 to b2 is l b32 The distance from O3 to b3 is l b33 ;

[0075] The mathematical equation is established as follows:

[0076]

[0077]

[0078]

[0079] Solve the mathematical equation, constrain the height values ​​of points b1, b2, and b3, and obtain the precise coordinates of points b1, b2, and b3;

[0080] In each system of equations above, l b11 l b12 l b13 l b21 l b22 l b23 l b31 l b32 l b33 The distances from O1, O2, and O3 to b1, b2, and b3 are respectively given. Clearly, once O1, O2, O3, b1, b2, and b3 are selected, these distances are all known. Similarly, in each system of equations above, only the coordinate variables corresponding to the three quantities b1, b2, and b3 are present. Each system has three equations and three unknowns. By constraining the heights of the target points b1, b2, and b3 based on the spatial position of the push rod, the corresponding exact solution can be obtained. At this point, the precise coordinates of b1, b2, and b3 under the current support can be obtained.

[0081] Similarly, obtain the corresponding coordinate values ​​of b4, b5, b6 and b7, b8, b9 respectively, where the distance from O1 to b7 is l. b17 The distance from O1 to b8 is l b18 The distance from O1 to b7 is l b19 The distance from O2 to b8 is l b27 The distance from O2 to b9 is l b28 The distance from O2 to b7 is l b29 The distance from O3 to b8 is l b37 The distance from O3 to b2 is l b38 The distance from O3 to b9 is l b39 ;

[0082] The equation is established as follows:

[0083]

[0084]

[0085]

[0086] Continue calculating to determine the precise coordinates of b4, b5, b6, b7, b8, and b9.

[0087] S5. Based on the distance relationship between the target point on the push rod and the monitoring point on the push rod, constrain the height value of the monitoring point on the push rod, and calculate and determine the coordinates of the monitoring point on the push rod;

[0088] After determining the precise coordinates of b1, b2, b3, b4, b5, b6, b7, b8, and b9, calculate and determine the coordinates of O4, O5, and O6.

[0089] The distance from O4 to b1 is l b41 The distance from O4 to b2 is l b42 The distance from O4 to b3 is l b43 The distance from O5 to b1 is l b51 The distance from O5 to b2 is l b52 The distance from O5 to b3 is l b53 The distance from O6 to b1 is l b61 The distance from O6 to b2 is l b62 The distance from O6 to b3 is l b63 The above distances were measured by a pull-wire sensor.

[0090] Satisfy the following equation:

[0091]

[0092]

[0093]

[0094] Now, using b1, b2, and b3 as monitoring points again, obtain the coordinates of point O4; using b4, b5, and b6 as monitoring points, obtain the coordinates of point O5; and using b7, b8, and b9 as monitoring points, obtain the coordinates of point O6. Similarly, by constraining the target point height based on the spatial position of the push rod, the corresponding accurate solution can be obtained.

[0095] S6. Determine the coordinates of the target point on the connecting rod by using the coordinates of the monitoring point on the push rod, constrain the value of the target point on the push rod, and solve to determine the coordinates of the target point on the connecting rod.

[0096] S7. Using the coordinates of the target point on the connecting rod as the monitoring point, obtain the coordinates of the final target point and determine the mapping from the target point to the coordinate system of each hydraulic support base;

[0097] Using the coordinates of O4, O5, and O6 as monitoring points, determine the coordinates of the final target point O7, and complete the mapping from point O7 to the coordinate system of each hydraulic support base. 047 l o57 l o67The distances from O4, O5, and O6 to O7, respectively, are measured by the pull-wire sensor and satisfy the following relationship:

[0098]

[0099] Using existing methods for determining the relative position of hydraulic supports, the coordinates of the chute node group on the working face relative to the coordinate system of the first support are described, and the coordinates of the chute node group are read in real time to determine the moving position of the hydraulic support.

[0100] S8. Read the coordinates to determine whether the hydraulic support of the fully mechanized mining face should continue to push the slide.

[0101] When selecting a1, a2, and a3 (a4, a5, and a6; a7, a8, and a9; b1, b2, and b3; b4, b5, and b6; b7, b8, and b9), they cannot form collinear positions. Furthermore, since O1, O2, and O3 are measured points with known distances but unknown spatial coordinates, considering the potential accuracy changes caused by the deformation of the push rod, the distances between them are verified using the obtained coordinates of O1, O2, and O3: the deformation of the push rod is checked using the precise coordinates of points O1, O2, and O3, where the distance from O1 to O2 is l. O12 The distance from O1 to O3 is l O13 It satisfies the distance formula:

[0102]

[0103] If l is detected O12 l O13 Distance from reality If an error occurs, a warning signal will be issued and the accuracy will be corrected.

[0104] An O9 is arranged in the inner plane of the push rod. Point O9 is connected to points b2, b4, and b7 using additional pull-wire sensors to determine the length l. b92 l b94 l b97 The deformation of the push rod is monitored by using the spatial distance between point O9 and points b2, b4, and b7. Without affecting the sensor arrangement, point O9 should be as close to the rear as possible to reduce the possible deformation of point O9.

[0105]

[0106] If the acquired distance l is detected b92 l b94 l b97 From the rated actual distance If there is an error, a warning signal will be issued to notify the operators to check and correct the deformation of the push rod;

[0107] The distances between them are verified using the obtained spatial coordinates O4, O5, and O6:

[0108]

[0109] If the acquired distance O is detected 45 O 46 From the rated actual distance If an error is found, a warning signal will be issued to notify the operators to correct the accuracy of b1-b9.

[0110] The push rod has internal reinforcing plates to control its deformation. The pull-wire sensor is located inside the push rod, and an observation window is located on its side. Coal-blocking plates on both sides of the push rod shield it from loose coal, preventing deflection. Two or more hollow reinforcing plates are used inside the push rod to control its deformation and time. The hollow structure provides space for the pull wires between point O9 and points b2, b4, and b7, preventing interference. A closable observation window on the side of the push rod allows for the installation, debugging, and repair of the internal pull-wire sensor. Inclined coal-blocking plates are welded to both sides of the push rod. These plates should not interfere with the movement of the pull-wire sensors at points a1, a2, and a3. The plates shield some loose coal and limit the push rod's deflection. Their inclined arrangement also keeps loose coal at a low level, minimizing its impact on the pull-wire sensor's distance sensing capabilities.

[0111] This method, by rationally determining the coordinate system and selecting target and monitoring points, can accurately sense and control the position of the push cylinder, thereby achieving precise control. In addition, this method can also check the deformation of the push rod, and the measurement of the wire sensor is more flexible and convenient.

[0112] Of course, the above description is not intended to limit the present invention, and the present invention is not limited to the examples given above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A method for precise sensing and control of the pushing position of a hydraulic support pushing cylinder in a fully mechanized mining face, characterized in that the steps include... include: S1. Select the target points for the push rod and the connecting rod; S2. Set monitoring points on the hydraulic support base and push rod; S3. Establish a coordinate system and determine the coordinates of each monitoring point, and establish mathematical equations based on the distance relationships; S4. Use a pull-wire sensor to measure the distance between the target point on the push rod and the monitoring point on the support base, constrain the height of the target point on the push rod, and solve for the coordinates of the target point on the push rod; S5. Based on the distance relationship between the target point on the push rod and the monitoring point on the push rod, constrain the height value of the monitoring point on the push rod, and calculate and determine the coordinates of the monitoring point on the push rod; S6. Determine the coordinates of the target point on the connecting rod by using the coordinates of the monitoring point on the push rod, constrain the value of the target point on the push rod, and solve to determine the coordinates of the target point on the connecting rod. S7. Using the coordinates of the target point on the connecting rod as the monitoring point, obtain the coordinates of the final target point and determine the mapping from the final target point to the coordinate system of each hydraulic support base; S8. Read the coordinates to determine whether the hydraulic support of the fully mechanized mining face should continue to push the slide.

2. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 1, characterized in that, The target points selected by the push rod include O1, O2, and O3, where O1 points to monitoring points a1, a2, and a3 on the hydraulic support base, O2 points to monitoring points a4, a5, and a6 on the hydraulic support base, and O3 points to monitoring points a7, a8, and a9 on the hydraulic support base.

3. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 2, characterized in that, The target points selected by the connecting rod include O4, O5, and O6; where O4 points to monitoring points b1, b2, and b3 on the push rod, O5 points to monitoring points b4, b5, and b6 on the push rod, and O6 points to monitoring points b7, b8, and b9 on the push rod.

4. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 3, characterized in that, The origin of the coordinate system is selected at the center of the hydraulic support base, and the coordinates of the monitoring points on the hydraulic support base are: The distance from O1 to a1 is l a1 The distance from O1 to a2 is l a2 The distance from O1 to a3 is l a3 The distance from O2 to a4 is l a4 The distance from O2 to a5 is l a5 The distance from O2 to a6 is l a6 The distance from O3 to a7 is l a7 The distance from O3 to a8 is l a8 The distance from O3 to a8 is l a9 ; The mathematical equation is established as follows: Solve the mathematical equations, constrain the height values ​​of points O1, O2, and O3, and obtain the precise coordinates of points O1, O2, and O3.

5. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 4, characterized in that, The coordinates of the monitoring point on the push rod are: The distance from O1 to b1 is l b11 The distance from O1 to b2 is l b12 The distance from O1 to b3 is l b13 The distance from O2 to b1 is l b21 The distance from O2 to b2 is l b22 The distance from O2 to b3 is l b23 The distance from O3 to b1 is l b31 The distance from O3 to b2 is l b32 The distance from O3 to b3 is l b33 ; The mathematical equation is established as follows: Solve the mathematical equation, constrain the height values ​​of points b1, b2, and b3, and obtain the precise coordinates of points b1, b2, and b3; Continue calculating to determine the precise coordinates of b4, b5, b6, b7, b8, and b9.

6. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 5, characterized in that, After determining the precise coordinates of b1, b2, b3, b4, b5, b6, b7, b8, and b9, calculate and determine the coordinates of O4, O5, and O6. The distance from O4 to b1 is l b41 The distance from O4 to b2 is l b42 The distance from O4 to b3 is l b43 The distance from O5 to b1 is l b51 The distance from O5 to b2 is l b52 The distance from O5 to b3 is l b53 The distance from O6 to b1 is l b61 The distance from O6 to b2 is l b62 The distance from O6 to b3 is l b63 ; Satisfy the following equation: 。 7. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 6, characterized in that, Using the coordinates of O4, O5, and O6 as monitoring points, the coordinates of the final target point O7 are determined; the coordinates of the working face chute node group relative to the coordinate system of the first support are described, and the coordinates of the chute node group are read in real time to determine the moving position of the hydraulic support.

8. The method for precise sensing and control of the pushing position of the hydraulic support pushing cylinder in a fully mechanized mining face according to claim 7, characterized in that, The deformation of the push rod is checked using the precise coordinates of points O1, O2, and O3, where the distance from O1 to O2 is l. O12 The distance from O1 to O3 is l O13 It satisfies the distance formula: If l is detected O12 l O13 Distance from reality , If there is an error, the accuracy will be corrected.

9. A method for precise sensing and control of the pushing position of a hydraulic support pushing cylinder in a fully mechanized mining face according to any one of claims 1-8, characterized in that, The push rod is equipped with a reinforcing plate inside to control its deformation, a pull wire sensor is installed inside the push rod, and an observation window is provided on the side of the push rod.

10. A method for precise sensing and control of the pushing position of a hydraulic support pushing cylinder in a fully mechanized mining face according to any one of claims 1-8, characterized in that, Coal retaining plates are installed on both sides of the push rod to block floating coal and prevent the push rod from deflecting.

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