A hydraulic support inclination sensor system error correction method and system

Abstract

The application provides a mine hydraulic support inclination sensor system error correction method and system, and belongs to the technical field of inclination sensor error correction. The method solves the problems of poor timeliness, time-consuming and laboriousness in existing hydraulic support base inclination sensor system error correction. The method comprises the following steps: establishing a hydraulic support inclination-mining height relationship mathematical model; an electro-hydraulic control system automatically collects inclination and mining height data of the hydraulic support on the working face and saves the data to a crossheading master computer; an error correction system triggers and calibrates data set sampling; a calibration data set is processed, including mining height data interpolation and shield beam pitch angle and top beam pitch angle error processing; inclination sensor error correction amount calculation: the calibration data set is divided into a calculation data set and a test data set, and the inclination-mining height relationship mathematical model is used to calculate the base pitch angle compensation amount in the calculation data set; and the application is applied to hydraulic support inclination sensor system error correction.

Description

TECHNICAL FIELD

[0001] The application provides a hydraulic support inclination sensor system error correction method and system, and belongs to the technical field of inclination sensor error correction. BACKGROUND

[0002] In order to realize real-time and accurate perception of the posture of the hydraulic support on the fully-mechanized coal mining face, inclination sensors have been installed in large quantities in the intelligent fully-mechanized coal mining face. At present, the inclination sensors on the hydraulic support are mainly installed on the top beam, the shield beam and the base, and six parameters, i.e., the pitch angle of the top beam, the roll angle of the top beam, the pitch angle of the shield beam, the roll angle of the shield beam, the pitch angle of the base and the roll angle of the base, can be measured. However, in actual application, due to factors such as the factory error of the inclination sensor, the installation standard, and the underground working condition, the base inclination sensor often has a large system error, and the system error in the measurement error of the top beam inclination sensor and the shield beam inclination sensor is small, mainly random error, and thus it is necessary to analyze and correct the system error of the base inclination sensor of the hydraulic support in actual application.

[0003] In order to correct the system error of the base inclination sensor of the hydraulic support, the existing method is that after the installation of the inclination sensor is completed, the maintenance worker uses a handheld inclination detector to detect the base inclination of each hydraulic support, compares the base inclination with the inclination displayed by the electro-hydraulic controller, obtains the inclination correction value, and then sends the correction value to the electro-hydraulic controller through the electro-hydraulic control system. The above method has problems such as poor timeliness, time-consuming and laborious, and the correction value cannot be verified for accuracy. SUMMARY

[0004] The application provides a hydraulic support inclination sensor system error correction method and system to solve the problems such as poor timeliness, time-consuming and laborious, and the correction value cannot be verified for accuracy in the correction of the system error of the base inclination sensor of the existing hydraulic support.

[0005] To solve the above technical problems, the application adopts the technical scheme of a hydraulic support inclination sensor system error correction method, which comprises the following steps:

[0006] Step 1: Establish a mathematical model of the relationship between the inclination of the hydraulic support and the mining height:

[0007] Step 1.1: Install a standard hydraulic support on the ground:

[0008] Before the underground layout of the hydraulic support on the working face, a standard hydraulic support of the same type is selected on the ground, and an electro-hydraulic controller, a shield beam inclination sensor, a top beam inclination sensor, a base inclination sensor and a mining height sensor are installed, wherein the mining height sensor is installed on the base of the hydraulic support and is used to obtain the height between the support top of the hydraulic support and the parallel floor, so as to ensure that the inclination sensor is installed correctly and calibrated manually.

[0009] Step 1.2: Collecting standard hydraulic support inclination-angle-mining height data on the ground:

[0010] Controlling the hydraulic support to rise and fall multiple times and stay by the electro-hydraulic controller, and reading the shield beam inclination angle α, the base inclination angle β, the top beam inclination angle γ, and the mining height H of the hydraulic support when staying;

[0011] Step 1.3: Establishing a mathematical model between H and α, β, γ;

[0012] Step 2: Saving inclination-angle-mining height data:

[0013] After the hydraulic support is laid out on the working face, the electro-hydraulic control system automatically collects the inclination-angle-mining height data of the hydraulic support in real time and saves them to the main control computer in the crossheading;

[0014] Step 3: Triggering the error correction system and sampling the calibration data set:

[0015] Step 3.1: Triggering the error correction system:

[0016] The error correction system is operated by the main control computer in the crossheading or set to run at a certain time;

[0017] Step 3.2: Sampling the calibration data set:

[0018] After the error correction system is triggered, the calibration data set is sampled;

[0019] Step 4: Processing the calibration data set: including mining height data interpolation and error processing of the shield beam inclination angle and the top beam inclination angle;

[0020] Step 5: Calculating the inclination-angle sensor error correction amount: dividing the calibration data set into a calculation data set and a test data set, and using the mathematical model of the relationship between the hydraulic support inclination angle and the mining height to calculate the base inclination angle compensation amount in the calculation data set.

[0021] Also including Step 6: Evaluating the error correction effect of the inclination-angle sensor:

[0022] Using the measured value of the base inclination angle in the test data set, combining the base inclination angle compensation amount to obtain the base inclination angle correction value, and then substituting the base inclination angle correction value, the shield beam inclination angle, and the top beam inclination angle into the mathematical model of the relationship between the hydraulic support inclination angle and the mining height to calculate the mining height correction value, and calculating the absolute error of the mining height, when the absolute error of the mining height meets the set range, it is considered that the error correction effect meets the standard, and Step 7 is executed;

[0023] Step 7: Updating the inclination-angle sensor error correction amount.

[0024] The expression of the mathematical model between H and α, β, γ established in step 1.3 is a polynomial, and the mathematical model is selected as a quadratic polynomial or a cubic polynomial or a quartic polynomial according to different measurement accuracies, wherein the expression of the cubic polynomial is as follows:

[0025] H=A(α-β) 3 +B(α-β) 2 +C(α-β)+J(γ-β) 3 +M(γ-β) 2 +N(γ-β)+L;

[0026] In the above formula: A, B, C, J, M, N are constant coefficients, and L is a constant remainder.

[0027] The step of sampling the calibration data set in step 3.2 is as follows:

[0028] After the error correction trigger, the calibration data set is sampled, and i is the date of the day, and the set daily maintenance team start time is taken as the sampling time point of the calibration data set of the day, and the sampling height data of the sampling time point is saved as the static sampling height H of the hydraulic support of the day i , the cover beam pitch angle of the sampling time point is saved as the cover beam pitch angle α of the day i , the base pitch angle of the sampling time point is saved as the base pitch angle β of the day i , the top beam pitch angle of the sampling time point is saved as the top beam pitch angle γ of the day i , then the calibration data set Φi of the day is {H i , α i , β i , γ i};

[0029] Select m data sets from the previous m days to the previous 1 day as the calibration data set, then:

[0030] The calibration data set Φ is {Φ i-m , Φ i-m+1 , ··· Φ i-2 , Φ i-1}.

[0031] The sampling height data interpolation in step 4 is carried out by using a quadratic spline interpolation method on the static sampling height H i of the hydraulic support of the day i , the result is saved to the calibration data set and replaces the original sampling height data;

[0032] The process of error processing of the cover beam pitch angle and the top beam pitch angle is as follows:

[0033] Calculate the adjacent angle difference of the cover beam pitch angle of the jth support in the calibration data set of the ith day:

[0034] Δα ij =α ij -(α ij-1 +α ij+1 )∕2;

[0035] If Δα ij is greater than a set threshold, then let α ij =(α ij-1 +α ij+1 )∕2;

[0036] Calculate the roof beam pitch angle adjacent angle difference of the jth roof beam in the calibration data set on the ith day:

[0037] Δγ ij =γ ij -(γ ij-1 +γ ij+1 )∕2;

[0038] If Δγ ij is greater than a set threshold, then let γ ij =(γ ij-1 +γ ij+1 )∕2.

[0039] The basis for calculating the data set and test data set in step 5 is as follows:

[0040] Take the first n days of data (n < m) in the calibration data set Φ as the calculation data set Φ c ;

[0041] Φ c ={Φ i-m ,Φ i-m+1 ,···Φ i-m+n-1};

[0042] Take the data from the n+1th day to the last day in the calibration data set Φ as the test data set Φ t ;

[0043] Φ t ={Φ i-m+n ,Φ i-m+n+1 ,···Φ i-1};

[0044] The main computer in the entryway calculates the theoretical value of the base pitch angle, replaces the mining height H c , the shield beam pitch angle α i , and the roof beam pitch angle γ i in the calculation data set Φ i every day in the cubic polynomial fitted in step 1.3, and solves to obtain the theoretical value of the base pitch angle β i '. The calculation formula of the base pitch angle compensation C' is as follows:

[0045] .

[0046] The absolute error in the step S6 is in the range of the set value, which means:

[0047] If the 90% quantile of the absolute error is less than 0.2m and the maximum value of the absolute error is less than 0.3m, it is considered that the error correction effect is up to standard.

[0048] A mining hydraulic support inclination sensor system error correction system, comprising a crossheading main control computer, an electro-hydraulic control server arranged at a working face end hydraulic support, an electro-hydraulic controller arranged on each hydraulic support, a top beam inclination sensor, a shield beam inclination sensor, a base inclination sensor, a height sensor arranged on the working face at intervals of multiple hydraulic supports, wherein the height sensor is installed on the base of the hydraulic support and is used to obtain the height between the support top of the hydraulic support and the parallel base plate, the base inclination sensor, the shield beam inclination sensor and the top beam inclination sensor on each hydraulic support are connected with the electro-hydraulic controller thereon, the height sensor is connected with the electro-hydraulic controller on the hydraulic support where the height sensor is installed, the electro-hydraulic controller is connected with the electro-hydraulic control server, the electro-hydraulic control server is connected with the crossheading main control computer, the crossheading main control computer is internally provided with a memory and a processor, the memory stores a computer program of a mining hydraulic support inclination sensor system error correction method, and the processor is used to execute the above computer program to correct the inclination sensor system error.

[0049] The present application has the advantages of high timeliness and verifiable results compared with the artificial measurement base inclination correction method, the high timeliness is reflected in the fast detection speed and the detection-correction frequency can be improved, and the verifiable results are reflected in that the height is calculated by using the corrected base pitch angle and the shield beam pitch angle and the top beam pitch angle, and compared with the measured height to verify the accuracy of the base pitch angle correction. BRIEF DESCRIPTION OF DRAWINGS

[0050] The present application will be further described below in combination with the drawings:

[0051] Figure 1 It is a structural schematic diagram of the system of the present application;

[0052] Figure 2 It is a flowchart of the method of the present application. DETAILED DESCRIPTION

[0053] As Figure 1As shown, the present application provides a mine hydraulic support inclination sensor error correction system, which comprises a crossheading master control computer, an electro-hydraulic control server arranged at the working face end hydraulic support, an electro-hydraulic controller, a top beam inclination sensor, a shield beam inclination sensor, a base inclination sensor arranged on each hydraulic support, and a height sensor arranged at the working face with multiple hydraulic supports in intervals. The top beam pitch angle, the shield beam pitch angle and the base pitch angle of the hydraulic support are collected by using the above system, and the base pitch angle is corrected according to the correction method.

[0054] The flow of the mine hydraulic support inclination sensor system error correction method provided by the present application is as shown in Figure 2 The steps are as follows:

[0055] Step 1: Establishing a mathematical model of the relationship between the inclination of the hydraulic support and the height

[0056] 1.1 Installing a standard hydraulic support on the ground

[0057] Before the underground layout of the working face hydraulic support, a standard hydraulic support of the same type is selected on the ground, and an electro-hydraulic controller, a shield beam inclination sensor, a top beam inclination sensor, a base inclination sensor and a height sensor are installed. The height sensor is installed on the base of the hydraulic support to obtain the height between the support top of the hydraulic support and the parallel bottom plate, so as to ensure the correct installation of the inclination sensor and manual calibration.

[0058] 1.2 Collecting inclination-height data of the standard hydraulic support on the ground

[0059] The hydraulic support is controlled by the electro-hydraulic controller to rise and fall multiple times with small amplitude and stay, and the shield beam pitch angle (denoted as α), the base pitch angle (denoted as β), the top beam pitch angle (denoted as γ) and the height (denoted as H) of the hydraulic support are read when staying.

[0060] 1.3 Establishing a mathematical model of H and α, β, γ

[0061] The inclination-height data collected on the ground is fitted by a cubic polynomial, and a mathematical model of H and α, β, γ is established:

[0062] H=A(α-β) 3 +B(α-β) 2 +C(α-β)+J(γ-β) 3 +M(γ-β) 2 +N(γ-β)+L;

[0063] In the above formula, A, B, C, J, M, N are constant coefficients, and L is a constant remainder.

[0064] Step 2: Saving inclination and height data

[0065] After the hydraulic supports are installed at the working face, the electro-hydraulic control system automatically collects the tilt angle and mining height data of the hydraulic supports in real time and saves them to the main control computer of the roadway.

[0066] Step 3: Correct system triggering and calibration dataset sampling

[0067] 3.1 Error correction system triggering

[0068] The error correction system can be operated by the main control computer of the roadway or run at set time intervals.

[0069] 3.2 Calibration Dataset Sampling

[0070] After the error correction system is triggered, calibration dataset sampling is performed. Let i be the current date, and the start time of the daily maintenance shift is taken as the sampling time point for the calibration dataset. The sampling height data at that time is saved as the static sampling height H of the hydraulic support for that day. i Save the elevation angle of the shield beam at that moment as the elevation angle α of the shield beam on that day. i Save the base pitch angle at that moment as the base pitch angle β for that day. i The pitch angle of the top beam at that moment is saved as the pitch angle γ of the top beam on that day. i Then the calibration dataset for that day is Φi={H i α i ,β i γ i};

[0071] If we select m datasets from the previous m days to the previous 1 day as the calibration dataset, then:

[0072] Calibration dataset Φ={Φ i-m , Φ i-m+1 ,······Φ i-2 ,Φ i-1}

[0073] Step 4: Calibration Data Processing

[0074] 4.1 Interpolation of working face elevation data

[0075] The static mining height H of the hydraulic support on that day i The quadratic spline interpolation method was used to generate the extraction height data H of all hydraulic supports on the working face for the day. i The results are saved to the calibration dataset and used to replace the original height data.

[0076] 4.2 Handling of errors in the pitch angles of the protective beam and the top beam

[0077] Calculate the pitch angle of the shield beam of the j-th frame in the calibration dataset on day i, and the angle difference between adjacent frames:

[0078] Δα ij =αij -(α ij-1 +α ij+1 )∕2;

[0079] If Δα ij is greater than a set threshold, then let α ij =(α ij-1 +α ij+1 )∕2;

[0080] Calculate the roof beam pitch angle adjacent angle difference of the jth roof beam in the calibration data set on the ith day:

[0081] Δγ ij =γ ij -(γ ij-1 +γ ij+1 )∕2;

[0082] If Δγ ij is greater than a set threshold, then let γ ij =(γ ij-1 +γ ij+1 )∕2.

[0083] Step 5: Inclination sensor error correction amount calculation

[0084] 5.1 Calculate data set and test data set division

[0085] Take the first n days of data (n < m) in the calibration data set Φ as the calculation data set Φ c ;

[0086] Φ c ={Φ i-m ,Φ i-m+1 ,···Φ i-m+n-1};

[0087] Take the data from the n+1th day to the last day in the calibration data set Φ as the test data set Φ t ;

[0088] Φ t ={Φ i-m+n ,Φ i-m+n+1 ,···Φ i-1};

[0089] Calculate the theoretical value of the base pitch angle in the main control computer of the crossheading, and substitute the mining height H c , the shield beam pitch angle α i , and the roof beam pitch angle γ i of each day in the calculation data set Φ i into the cubic polynomial fitted in step 1.3 to obtain the theoretical value of the base pitch angle β i ', then the calculation formula of the base pitch angle compensation amount C' is as follows:

[0090] .

[0091] 5.2 Base pitch angle correction amount calculation

[0092] The base pitch angle theoretical value is calculated by the crossheading master computer, and the calculation data set Φ c The daily mining height H i , the shield beam pitch angle α i , the top beam pitch angle γ i in step 1.3 are substituted into the cubic polynomial fitted, and the following cubic polynomial is solved: H = A(α-β) 3 +B(α-β) 2 +C(α-β)+J(γ-β) 3 +M(γ-β) 2 +N(γ-β)+L; the base pitch angle theoretical value β i ' is solved, and the base pitch angle compensation amount C' is: .

[0093] Step 6: Inclination sensor error correction effect evaluation

[0094] The daily base pitch angle measured value β i in the test data set Φ t is taken, and the base pitch angle correction value β i ''=β i +C' is calculated, the shield beam pitch angle α i , the base pitch angle correction value β i '', and the top beam pitch angle γ i are substituted into the cubic polynomial function H = A(α-β) 3 +B(α-β) 2 +C(α-β)+J(γ-β) 3 +M(γ-β) 2 +N(γ-β)+L, and the mining height correction value H i ' is calculated, and the absolute error E = |H i '-H i | of the mining height is calculated. If the 90% quantile Q(E) of the absolute error E is less than 0.2m and the maximum value MAX(E) of the absolute error E is less than 0.3m, it is considered that the error correction effect meets the standard, and step 7 is executed.

[0095] Step 7: Update the inclination sensor error correction amount

[0096] The hydraulic support correction amount is sent by the crossheading master computer to the electro-hydraulic control server, and the electro-hydraulic control server sends the hydraulic support correction amount to the corresponding electro-hydraulic controller of the hydraulic support. The electro-hydraulic controller receives the signal returned by the base inclination sensor, and real-time correction, display, and upload are performed.

[0097] It should be noted that the connection relationship between the components and modules used in the present application is determined and can be realized. Except for the special description in the embodiments, the specific connection relationship can bring corresponding technical effects, and based on the premise of not relying on the corresponding software program execution, the technical problems proposed in the present application are solved. The model of the components, modules, specific elements, the connection mode between them, and the conventional use method and the expected technical effects brought by the above technical features, except for the specific description, all belong to the public content disclosed in the patents, journal papers, technical manuals, technical dictionaries, textbooks, etc. obtained by the skilled in the art before the filing date, or belong to the existing technology such as the conventional knowledge in the art, and do not need to be described in detail. The technical solutions provided in the present application are clear, complete, and realizable, and the corresponding entity products can be reproduced or obtained according to the technical means.

[0098] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for error correction of a hydraulic support inclination sensor system for mining, characterized in that: Comprising the following steps: Step 1: Establishing a mathematical model of hydraulic support inclination-angle-mining height relationship: Step 1.1: Installing a standard hydraulic support on the ground: Before the underground layout of the hydraulic support in the working face, a standard hydraulic support of the same type is selected on the ground, and an electro-hydraulic controller, a shield beam inclination sensor, a top beam inclination sensor, a base inclination sensor and a mining height sensor are installed. The mining height sensor is installed on the base of the hydraulic support to obtain the height between the top of the hydraulic support and the parallel floor, and to ensure that the inclination sensors are installed correctly and calibrated manually. Step 1.2: Collecting inclination-angle-mining height data of the standard hydraulic support on the ground: The hydraulic support is lifted and lowered multiple times by the electro-hydraulic controller, and the shield beam inclination angle α, the base inclination angle β, the top beam inclination angle γ and the mining height H of the hydraulic support are read when it is stopped. Step 1.3: Establishing a polynomial mathematical model between H and α, β and γ: Step 2: Saving inclination-angle-mining height data: After the layout of the hydraulic support in the working face, the electro-hydraulic control system automatically collects and saves the inclination-angle-mining height data of the hydraulic support to the main control computer in the crossheading. Step 3: Triggering the error correction system and sampling the calibration data set: Step 3.1: Triggering the error correction system: The error correction system is operated by the main control computer in the crossheading or set to run at a certain time. Step 3.2: Sampling the calibration data set: After the error correction system is triggered, calibration dataset sampling is performed. Let i be the current date, and the start time of the daily maintenance shift is taken as the sampling time point for the calibration dataset. The sampling height data, shield beam pitch angle, base pitch angle, and top beam pitch angle at this sampling time point are saved as the static sampling height H of the hydraulic support for that day. i α, the pitch angle of the protective beam i Base pitch angle β i γ, the pitch angle of the top beam i Then the calibration dataset for that day is Φi={H i α i ,β i γ i }; Select m data sets from the previous m days to the previous day as the calibration data set, then: Calibration dataset Φ = {Φ i-m , Φ i-m+1 , ··· Φ i-2 , Φ i-1}; Step 4: Processing the calibration data set: including mining height data interpolation and shield beam inclination angle and top beam inclination angle error processing, wherein the shield beam inclination angle and top beam inclination angle error processing includes: Calculating the adjacent angle difference of the shield beam inclination angle of the jth support in the calibration data set of the ith day: Delta alpha ij = alpha ij - (alpha ij-1 + alpha ij+1 ) / 2; If Δα ij is greater than a set threshold, then let α ij = (α ij-1 + α ij+1 ) / 2; Calculating the adjacent angle difference of the top beam inclination angle of the jth support in the calibration data set of the ith day: Δγ ij = γ ij -(γ ij-1 + γ ij+1 ) / 2; If Δγ ij is greater than a set threshold, then let γ ij = (γ ij-1 + γ ij+1 ) / 2; Step 5: Calculating the inclination sensor error correction amount: dividing the calibration data set into a calculation data set and a test data set, and calculating the base inclination angle compensation amount in the calculation data set by using the mathematical model of the hydraulic support inclination-angle-mining height relationship.

2. The error correction method for a hydraulic support inclination sensor system of coal mine according to claim 1, characterized in that: Also including Step 6: Evaluating the error correction effect of the inclination sensor: Using the measured value of the base inclination angle in the test data set, combining the base inclination angle compensation amount to obtain the base inclination angle correction value, and then substituting the base inclination angle correction value, the shield beam inclination angle and the top beam inclination angle into the mathematical model of the hydraulic support inclination-angle-mining height relationship to calculate the mining height correction value, and calculating the absolute error of the mining height. When the absolute error of the mining height meets the set range, it is considered that the error correction effect meets the standard, and Step 7 is executed. Step 7: Updating the inclination sensor error correction amount.

3. The error correction method for a hydraulic support inclination sensor system according to claim 2, characterized in that: The expression of the mathematical model between H and α, β and γ established in Step 1.3 is a polynomial, and the mathematical model is a quadratic polynomial or a quartic polynomial according to different measurement accuracy.

4. The error correction method for a hydraulic support inclination sensor system according to claim 2, characterized in that: The expression of the mathematical model between H and α, β and γ established in Step 1.3 is a cubic polynomial, and the expression of the cubic polynomial is as follows: H = A(α - β) 3 + B(α - β) 2 + C(α - β) + J(γ - β) 3 + M(γ - β) 2 + N(γ - β) + L; In the above formula, A, B, C, J, M and N are constant coefficients, and L is a constant remainder.

5. The error correction method for a hydraulic support inclination sensor system according to claim 4, characterized in that: The height data interpolation in step 4 is through the hydraulic support static height H i Adopting the quadratic spline interpolation method, the whole hydraulic support height data H of the working face on the day is generated i The result is saved to the calibration data set and replaces the original height data.

6. The error correction method for a hydraulic support inclination sensor system of coal mine according to claim 5, characterized in that: The basis for dividing the calculation data set and the test data set in Step 5 is as follows: Take the first n days of data in the calibration dataset Φ as the calculation dataset Φ c where n < m; Φ c ={Φ i-m ,Φ i-m+1 ,······Φ i-m+n-1} Take the data from the n+1th day to the last day in the calibration data set Φ as the test data set Φ t ; Φ t ={Φ i-m+n ,Φ i-m+n+1 ,······Φ i-1} Theoretical value of the base pitch angle is calculated by the main computer of the crossheading, and the data set Φ c is calculated i , the shield beam pitch angle α i , the top beam pitch angle γ i is substituted into the cubic polynomial fitted in step 1.3, and the theoretical value of the base pitch angle β i is solved, and the calculation formula of the base pitch angle compensation C' is as follows: 。 7. The error correction method for a hydraulic support inclination sensor system of coal mine according to claim 6, characterized in that: In Step 6, the absolute error of the mining height meeting the set range means that: If the 90th percentile of the absolute error is less than 0.2m and the maximum value of the absolute error is less than 0.3m, it is considered that the error correction effect is up to standard.

8. A system for error correction of a hydraulic support inclination sensor system in a mine, characterized by: The system comprises a main control computer of the crossheading, an electro-hydraulic control server arranged on the hydraulic support at the end of the working face, an electro-hydraulic controller arranged on each hydraulic support, a top beam inclination sensor, a shield beam inclination sensor, a base inclination sensor, a height sensor arranged on a plurality of hydraulic supports at intervals on the working face, wherein the height sensor is arranged on the base of the hydraulic support and used to obtain the height between the top of the hydraulic support and the parallel base plate, the base inclination sensor, the shield beam inclination sensor and the top beam inclination sensor on each hydraulic support are connected with the electro-hydraulic controller thereon, the height sensor is connected with the electro-hydraulic controller on the hydraulic support where the height sensor is arranged, the electro-hydraulic controller is connected with the electro-hydraulic control server, the electro-hydraulic control server is connected with the main control computer of the crossheading, the main control computer of the crossheading is internally provided with a memory and a processor, the memory stores a computer program of the error correction method of the inclination sensor system of the mine hydraulic support according to any one of claims 1-7, and the processor is used to execute the computer program to correct the error of the inclination sensor system.

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