Continuous miner motion correction method and system

Abstract

The application provides a continuous miner motion deviation rectification method and system. The method comprises the following steps: obtaining starting position information and end position information of the continuous miner, calculating a standard motion route of the continuous miner, calculating a target motion interval of the continuous miner according to the standard motion route and a preset error value, and making the continuous miner return to the standard motion route by using different deviation rectification modes according to a deviation value of an actual position of the continuous miner beyond a boundary of the target motion interval. The method can effectively detect whether the motion route of the continuous miner deviates from the target motion interval and control the continuous miner to perform coal mining along a straight route.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and specifically to a method and system for correcting the motion of a continuous mining machine. Background Technology

[0002] During the coal cutting process of a continuous miner, the operation is carried out step by step. First, the cutting drum is raised, then pulled forward, then the drum is lowered to cut the coal. After cutting to the bottom, it is pulled back to the bottom, and then the above steps are repeated. Because the working face is far away and does not travel continuously, operators rely on experience and some simple reference points to operate the continuous miner, making it difficult to accurately judge whether the coal cutting route is straight. Summary of the Invention

[0003] The purpose of this invention is to overcome the above-mentioned technical deficiencies and provide a method and system for correcting the movement of a continuous mining machine, so as to solve the problem of difficulty in accurately determining whether the coal mining route is straight in related technologies.

[0004] To achieve the above-mentioned technical objectives, the present invention adopts the following technical solution:

[0005] According to a first aspect of the present invention, a method for correcting the motion of a continuous mining machine is provided, comprising:

[0006] Obtain the starting and ending position information of the continuous mining machine, and calculate the standard movement path of the continuous mining machine;

[0007] Calculate the target movement range of the continuous mining machine based on the standard movement route and the preset error value;

[0008] Based on the deviation of the continuous mining machine's actual position from the boundary of the target movement range, different correction modes are used to bring the continuous mining machine back to the standard movement route.

[0009] Preferably, the method for calculating the standard movement path of the continuous mining machine includes:

[0010] Connect the starting and ending positions of the continuous mining machine to obtain the standard movement path of the continuous mining machine;

[0011] The standard movement route is divided into equal parts according to a preset equal division distance, and an array of equal division point position information is obtained. The array of equal division point position information is used to represent the standard movement route.

[0012] Preferably, the method for calculating the target movement range of the continuous mining machine includes:

[0013] Calculate the longitude and latitude components of the preset error value;

[0014] Based on the longitude component, latitude component, and the array of equally divided point positions, the left and right movement boundaries are calculated, and the area between the left and right movement boundaries is the target movement range of the continuous mining machine.

[0015] Preferably, the step of adopting different correction modes based on the deviation value of the actual position of the continuous mining machine from the boundary of the target movement range specifically includes:

[0016] If the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is less than or equal to the preset deviation threshold, the first correction mode is adopted, and the correction can be completed in one coal mining process.

[0017] If the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is greater than the preset deviation threshold, the second correction mode is adopted, and the correction is completed after multiple coal mining processes.

[0018] Preferably, the first correction mode includes:

[0019] If the current position of the continuous mining machine exceeds the left movement boundary, control the continuous mining machine to turn right until the continuous mining machine returns to the standard movement path, and the continuous mining machine continues to move forward.

[0020] And / or, if the current position of the continuous mining machine exceeds the right movement boundary, control the continuous mining machine to turn left until the continuous mining machine returns to the standard movement path, and the continuous mining machine continues to move forward.

[0021] Preferably, the second correction mode includes:

[0022] After the current coal mining process is completed, obtain the actual movement route;

[0023] Using the actual movement path as a reference line, calculate the correction path of the continuous miner during the next coal mining process.

[0024] Preferably, the method for calculating the correction path of the continuous miner during the next coal mining process includes:

[0025] Calculate the number of corrections based on the reference line;

[0026] Based on the number of corrections, calculate the correction distance of each point on the reference line in a single coal mining operation;

[0027] Based on the correction distance, calculate the corresponding position of the point on the reference line after one coal mining operation, connect all the corresponding positions, and obtain the correction route for the next coal mining process.

[0028] Preferably, the method for calculating the number of corrections includes:

[0029] Obtain the point on the reference line that is farthest from the coalfield, and calculate the vertical distance between the point farthest from the coalfield and the standard movement route;

[0030] The number of corrections is calculated based on the vertical distance and the preset correction distance.

[0031] Preferably, the method further includes:

[0032] After each coal mining process is completed, the correction path for the next coal mining process is recalculated.

[0033] The second correction mode ends when the correction path coincides with the standard motion path.

[0034] According to a second aspect of the present invention, a motion correction system for a continuous mining machine is provided, comprising:

[0035] The above-mentioned method for correcting the motion of the continuous mining machine.

[0036] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects:

[0037] By acquiring the starting and ending position information of the continuous mining machine, the standard movement route of the continuous mining machine is calculated. Based on the standard movement route and the preset error value, the target movement range of the continuous mining machine is calculated. Based on the deviation value of the actual position of the continuous mining machine from the boundary of the target movement range, different correction modes are adopted to bring the continuous mining machine back to the standard movement route. This can effectively detect whether the movement route of the continuous mining machine deviates from the target movement range and control the continuous mining machine to mine coal along a straight route. Attached Figure Description

[0038] Figure 1 This is a flowchart illustrating a motion correction method for a continuous mining machine according to an exemplary embodiment;

[0039] Figure 2 This is a schematic diagram illustrating a standard motion route and a target motion range according to another exemplary embodiment;

[0040] Figure 3 This is a schematic diagram illustrating an actual movement path according to another exemplary embodiment;

[0041] Figure 4 This is a schematic diagram illustrating a path correction process for a continuous mining machine according to another exemplary embodiment;

[0042] Figure 5 This is a schematic diagram of the structure of a continuous mining machine motion correction system according to another exemplary embodiment. Detailed Implementation

[0043] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort should fall within the scope of protection of the present application.

[0044] Example 1

[0045] Figure 1 This is a flowchart illustrating a motion correction method for a continuous mining machine according to an exemplary embodiment, such as... Figure 1 As shown, the method includes:

[0046] Step S11: Obtain the starting position information and ending position information of the continuous mining machine, and calculate the standard movement route 1 of the continuous mining machine;

[0047] Step S12: Calculate the target movement range of the continuous mining machine based on the standard movement route 1 and the preset error value;

[0048] Step S13: Based on the deviation value of the actual position of the continuous mining machine from the boundary of the target movement range, different correction modes are adopted to bring the continuous mining machine back to the standard movement route 1.

[0049] It is understood that the technical solution provided in this embodiment obtains the starting position information and ending position information of the continuous mining machine, calculates the standard movement route 1 of the continuous mining machine, calculates the target movement range of the continuous mining machine based on the standard movement route 1 and the preset error value, and adopts different correction modes based on the deviation value of the actual position of the continuous mining machine from the boundary of the target movement range to make the continuous mining machine return to the standard movement route 1. This can effectively detect whether the movement route of the continuous mining machine deviates from the target movement range and control the continuous mining machine to mine coal along a straight route.

[0050] In practice, the method for calculating the standard movement path 1 of the continuous mining machine includes:

[0051] Connect the starting and ending positions of the continuous mining machine to obtain the standard movement route 1 of the continuous mining machine;

[0052] The standard motion route 1 is divided into equal parts according to a preset equal division distance, and an array of equal division point position information is obtained. The array of equal division point position information is used to represent the standard motion route 1.

[0053] It should be noted that the preset equal division distance is an empirical value or is set according to actual work needs, such as setting the preset equal division distance to 200mm.

[0054] It should be noted that the calculation process for the standard movement path 1 of the continuous mining machine is as follows:

[0055] Let the latitude and longitude of the starting point be [x1, y1] and the latitude and longitude of the ending point be [x2, y2].

[0056] When the latitude difference between two points on the same meridian circle on the Earth's surface is 1°, the distance d1 between them on the meridian circle is as follows:

[0057] d1=πR / 180

[0058] Where R is the Earth's radius;

[0059] When the longitudes of two points on the same latitude circle on the Earth's surface differ by 1°, the distance d2 on the latitude circle is as follows:

[0060] d2=(πR×cos(|x|)) / 180

[0061] In the formula above, x represents the latitude value of the latitude circle;

[0062] Having obtained d1 and d2, and combining them with the latitude and longitude of the starting point [x1, y1] and the latitude and longitude of the ending point [x2, y2], the distance L between the starting point and the ending point on the meridian circle can be calculated. x The distance L on the latitude and longitude loops y ;

[0063] According to the formula The straight-line distance L between the starting point and the ending point can be calculated, and the straight line is the standard motion route 1;

[0064] According to the formula The number of division points N (N is ) is calculated, where L △ Preset equal division distance;

[0065] Based on the number of division points N, the location information of each division point is calculated and stored in the following data type format (location information includes coordinates, longitude, latitude, and altitude):

[0066] Coordinate:STRUCT(*coordinates*)

[0067] Longitude: DINT; (*longitude*)

[0068] Latitude:DINT; (*latitude*)

[0069] Height: DINT; (*height*)

[0070] END_STRUCT;

[0071] The above calculations yield an array of equally spaced point locations. This array contains N elements, with each element having an index i (ranging from 1 to N). The longitude of each element is stored within the array. (That is, the longitude difference between the starting and ending points is divided into N equal parts, multiplied by i, and then summed with the longitude of the starting point); latitude stores... (That is, the latitude difference between the starting point and the ending point is divided into N equal parts, multiplied by i, and then summed with the latitude of the starting point); the height is saved as a preset input height. In this way, the coordinate information of all points in the standard motion route 1 can be saved using the array of equally divided point positions, facilitating subsequent calculations. The specific code is as follows:

[0072] Path01:ARRAY[1..100]OF Coordinate;(*Planning Route 01*)

[0073] It is understood that the technical solution provided in this embodiment connects the starting position and the ending position of the continuous mining machine to obtain the standard movement route 1 of the continuous mining machine. Then, according to the preset equal division distance, the standard movement route 1 is divided into equal parts to obtain the equal division point position information array. The equal division point position information array can represent the standard movement route 1, which is convenient for subsequent calculations.

[0074] In practice, the method for calculating the target movement range of the continuous mining machine includes:

[0075] Calculate the longitude and latitude components of the preset error value;

[0076] Based on the longitude component, latitude component, and the array of equally divided point positions, the left movement boundary 2 and the right movement boundary 3 are calculated, and the area between the left movement boundary 2 and the right movement boundary 3 is the target movement range of the continuous mining machine.

[0077] It should be noted that the preset error value is an empirical value or set according to actual working needs, such as setting the preset error value to 20cm.

[0078] The specific methods for calculating the left motion boundary 2 and the right motion boundary 3 are as follows:

[0079] The longitude and latitude components of the preset error value O are calculated as follows:

[0080] O x =O*cosθ

[0081] O y =O*sinθ

[0082] Among them, O x For longitude components, O y The latitude component is θ, and the angle between the standard motion route 1 and the latitude and longitude circle is θ.

[0083] According to O x O y The code snippet shows the arrays containing the positions of the equally divided points. Two arrays are created to store the data for the left motion boundary 2 and the right motion boundary 3, respectively.

[0084] Path02:ARRAY[1..100]OF Coordinate; (*Planning route 02, the range to the left*)

[0085] Path03:ARRAY[1..100]OF Coordinate; (*Planning route 03, the range to the right*)

[0086] The data for left motion boundary 2 and right motion boundary 3 are calculated separately, as shown in the following code:

[0087] FOR i:=1TO 100BY 1DO

[0088] Path02[i].Longitude:=Path01[i].Longitude-Ox;

[0089] Path02[i].Latitude:=Path01[i].Latitude-Oy;

[0090] Path02[i].Height:=Path01[i].Height;

[0091] Path03[i].Longitude:=Path01[i].Longitude+Ox;

[0092] Path03[i].Latitude:=Path01[i].Latitude+Oy;

[0093] Path03[i].Height:=Path01[i].Height;

[0094] END_FOR;

[0095] Wherein, Path01 is the location information array of standard motion route 1, Path02 is the location information array of left motion boundary 2, Path03 is the location information array of right motion boundary 3, Path02[i].Longitude is the longitude value of the left motion boundary point, Path02[i].Latitude is the latitude value of the left motion boundary point, Path02[i].Height is the height value of the left motion boundary point, Path03[i].Longitude is the longitude value of the right motion boundary point, Path03[i].Latitude is the latitude value of the right motion boundary point, and Path03[i].Height is the height value of the right motion boundary point. The final standard motion route 1 and target motion interval are as follows: Figure 2 As shown.

[0096] It is understood that the technical solution provided in this embodiment calculates the longitude and latitude components of the preset error value, and calculates the left movement boundary 2 and the right movement boundary 3 based on the longitude components, latitude components and the array of equally divided point position information, thereby obtaining the target movement range of the continuous mining machine. This can accurately determine whether the continuous mining machine deviates from the route, and then adjust the route of the continuous mining machine.

[0097] In practice, the specific method of using different correction modes based on the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is as follows:

[0098] If the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is less than or equal to the preset deviation threshold, the first correction mode is adopted, and the correction can be completed in one coal mining process.

[0099] If the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is greater than the preset deviation threshold, the second correction mode is adopted, and the correction is completed after multiple coal mining processes.

[0100] It should be noted that a continuous mining machine considers the process from the starting point to the end point as one mining process, and then the process from the end point back to the starting point as another mining process. In other words, one round trip includes two mining processes.

[0101] It should be noted that the preset deviation threshold is an empirical value or set according to actual work requirements. For example, if the preset deviation threshold is set to 20cm, the second correction mode is adopted when the deviation of the actual position of the continuous mining machine from the nearest target movement boundary is greater than 20cm; the first correction mode is adopted when the deviation of the actual position of the continuous mining machine from the nearest target movement boundary is less than or equal to 20cm.

[0102] It is understood that the technical solution provided in this embodiment adjusts the movement path of the continuous mining machine by adopting the corresponding correction mode according to whether the deviation value between the actual position of the continuous mining machine and the target movement boundary is greater than the preset deviation threshold, so that the continuous mining machine can mine coal along a straight movement path.

[0103] In practice, the first correction mode includes:

[0104] If the current position of the continuous mining machine exceeds the left movement boundary 2, the continuous mining machine is controlled to turn right until it returns to the standard movement route 1, and the continuous mining machine continues to move forward.

[0105] And / or, if the current position of the continuous mining machine exceeds the right movement boundary 3, the continuous mining machine is controlled to turn left until it returns to the standard movement route 1, and the continuous mining machine continues to move forward.

[0106] It should be noted that the control of the continuous mining machine's movement direction is achieved by controlling the machine's tracks. Taking the example of the continuous mining machine's current position exceeding the right movement boundary 3 and controlling the machine to turn left, the specific operation method is as follows:

[0107] By controlling the forward speed of the left track 81 of the continuous mining machine to be less than the forward speed of the right track 82, the continuous mining machine can be turned to the left slowly.

[0108] Controlling the left track 81 of the continuous mining machine to remain stationary or move backward, and controlling the right track 82 of the continuous mining machine to move forward, can enable the continuous mining machine to turn to the left quickly.

[0109] In summary, by setting a speed difference between the two tracks, the direction of movement of the continuous mining machine can be adjusted.

[0110] It is understood that the technical solution provided in this embodiment adjusts the movement direction of the continuous mining machine according to the current position of the continuous mining machine exceeding the left movement boundary 2 or the right movement boundary 3, so that the continuous mining machine can eventually mine coal along a straight route.

[0111] In practice, the second correction mode includes:

[0112] After the current coal mining process is completed, the actual movement route will be obtained;

[0113] Using the actual movement path as a reference line, calculate the correction path of the continuous miner during the next coal mining process.

[0114] It is understood that the technical solution provided in this embodiment uses the actual movement route in the current coal mining process as a reference line to calculate the correction route of the continuous miner in the next coal mining process, which can gradually realize the correction of the movement route of the continuous miner, so that the continuous miner can finally mine coal in a straight direction.

[0115] In practice, the method for calculating the correction path of the continuous miner during the next coal mining process includes:

[0116] Calculate the number of corrections based on the reference line;

[0117] Based on the number of corrections, calculate the correction distance of each point on the reference line in a single coal mining operation;

[0118] Based on the correction distance, calculate the corresponding position of the point on the reference line after one coal mining operation, connect all the corresponding positions, and obtain the correction route for the next coal mining process.

[0119] In practice, the methods for calculating the number of corrections include:

[0120] Obtain the point on the reference line that is farthest from the coalfield, and calculate the perpendicular distance between the point that is farthest from the coalfield and the standard movement route 1;

[0121] The number of corrections is calculated based on the vertical distance and the preset correction distance.

[0122] It should be noted that if the preset correction distance is too large, the continuous mining machine may not be able to mine coal at certain moving positions, and if the preset correction distance is too small, the adjustment of the continuous mining machine's route will be too slow. Therefore, the preset correction distance is set according to the actual working requirements, such as setting the preset correction distance to 20cm.

[0123] like Figure 3 As shown, P1 is the point on the reference line that extends deepest into the coalfield, and its distance to standard movement route 1 is R1; P2 is the point that coincides with standard movement route 1, and its distance to standard movement route 1 is R2 (0); P3 is the point on the reference line that is farthest from the coalfield, and its distance to standard movement route 1 is R3. The maximum value R for a single adjustment is set. max The number of corrections M is calculated as follows:

[0124]

[0125] Round the obtained M up and calculate the adjustment distance R of P3 in each coal mining process. △ for:

[0126]

[0127] According to the formula above, R... max ≈R △ ;

[0128] The correction path for the next coal mining process is calculated based on the drum width w. The distances between P1, P2, and P3 on the reference line and their corresponding points on the correction path are as follows:

[0129]

[0130] O2=wR △

[0131] O3 = w

[0132] In summary, refer to point P to the left of point P2 on the line. x The distance to the baseline is R. x The distance O between Px and its corresponding point on the correction path x for:

[0133]

[0134] Refer to point P to the right of point P2 on the line. y The distance to the baseline is R. y P y The distance O between it and its corresponding point on the correction path y for:

[0135]

[0136] Calculate the correction positions corresponding to all points on the reference line according to the above rules, and connect all the correction positions to obtain the correction route in the next coal mining process.

[0137] It is understood that the technical solution provided in this embodiment calculates the number of corrections based on the reference line, calculates the correction distance of each point on the reference line in a single coal mining operation based on the number of corrections, calculates the corresponding position of the point on the reference line after one coal mining operation based on the correction distance, and connects all the corresponding positions to obtain the correction route for the next coal mining process. This enables partial correction of the continuous miner's route in the next coal mining process. After multiple corrections, the continuous miner can mine coal along a straight route.

[0138] In practice, the method also includes:

[0139] After each coal mining process is completed, the correction path for the next coal mining process is recalculated.

[0140] The second correction mode ends when the correction path coincides with the standard motion path 1.

[0141] like Figure 4 As shown, after multiple rounds of correction during the coal mining process, the actual movement path of the continuous mining machine will eventually be the same as the standard movement path 1.

[0142] It is understood that the technical solution provided in this embodiment, by recalculating the correction path for the next coal mining process after each coal mining process is completed, until the correction path coincides with the standard motion path 1, and controlling the second correction mode to end, enables the continuous mining machine to finally mine coal along a straight path.

[0143] Example 2

[0144] Figure 5 This is a schematic diagram illustrating the structure of a motion correction system for a continuous mining machine according to an exemplary embodiment, such as... Figure 5 As shown, the system includes:

[0145] The above-mentioned method for correcting the motion of the continuous mining machine.

[0146] It should be noted that the continuous mining machine motion correction system is equipped with a navigation device 4. The navigation device 4 is used to detect the position information of the continuous mining machine in real time and transmit the position information to the controller 5 for analysis and calculation. The controller 5 changes the power of the frequency converter according to the first correction mode and the second correction mode, adjusts the speed and direction of the corresponding traction motor, and then controls the movement speed and direction of the corresponding track, so as to finally realize the adjustment of the movement direction of the continuous mining machine.

[0147] like Figure 4 As shown, the controller 5 can send control signals to the left inverter 61 and the right inverter 62 respectively. When the power of the left inverter 61 is changed, the speed and direction of the left traction motor 71 are changed, and the movement direction and speed of the left track 81 are changed. When the power of the right inverter 62 is changed, the speed and direction of the right traction motor 72 are changed, and the movement direction and speed of the right track 82 are changed. Finally, a speed difference is formed between the left track 81 and the right track 82, thereby realizing the adjustment of the movement direction of the continuous mining machine.

[0148] It is understood that the technical solution provided in this embodiment obtains the starting position information and ending position information of the continuous mining machine, calculates the standard movement route 1 of the continuous mining machine, calculates the target movement range of the continuous mining machine based on the standard movement route 1 and the preset error value, and adopts different correction modes based on the deviation value of the actual position of the continuous mining machine from the boundary of the target movement range to make the continuous mining machine return to the standard movement route 1. This can effectively detect whether the movement route of the continuous mining machine deviates from the target movement range and control the continuous mining machine to mine coal along a straight route.

[0149] The sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0150] If the integrated units in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in the aforementioned computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause one or more computer devices (which may be personal computers, servers, or network devices, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0151] In the above embodiments of this application, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0152] In the several embodiments provided in this application, it should be understood that the disclosed client can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces, indirect coupling or communication connection between units or modules, and may be electrical or other forms.

[0153] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0154] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0155] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A method for correcting the motion of a continuous mining machine, characterized in that, include: Obtain the starting and ending position information of the continuous mining machine, and calculate the standard movement path of the continuous mining machine; Calculate the target movement range of the continuous mining machine based on the standard movement route and the preset error value; Based on the deviation of the continuous mining machine's actual position from the boundary of the target movement range, different correction modes are used to bring the continuous mining machine back to the standard movement route. The specific steps for employing different correction modes based on the deviation of the actual position of the continuous mining machine from the boundary of the target movement range are as follows: If the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is less than or equal to the preset deviation threshold, the first correction mode is adopted, and the correction can be completed in one coal mining process. If the deviation of the actual position of the continuous mining machine from the boundary of the target movement range is greater than the preset deviation threshold, the second correction mode is adopted, and the correction is completed through multiple coal mining processes. The first correction mode includes: If the current position of the continuous mining machine exceeds the left movement boundary, control the continuous mining machine to turn right until the continuous mining machine returns to the standard movement path, and the continuous mining machine continues to move forward. And / or, if the current position of the continuous mining machine exceeds the right movement boundary, control the continuous mining machine to turn left until the continuous mining machine returns to the standard movement path, and the continuous mining machine continues to move forward; The second correction mode includes: After the current coal mining process is completed, obtain the actual movement route; Using the actual movement path as a reference line, calculate the correction path of the continuous miner in the next coal mining process; The method for calculating the correction path of the continuous miner during the next coal mining process includes: Calculate the number of corrections based on the reference line; Based on the number of corrections, calculate the correction distance of each point on the reference line in a single coal mining operation; Based on the correction distance, calculate the corresponding position of the point on the reference line after one coal mining operation, connect all the corresponding positions, and obtain the correction route for the next coal mining process.

2. The method according to claim 1, characterized in that, The method for calculating the standard movement path of the continuous mining machine includes: Connect the starting and ending positions of the continuous mining machine to obtain the standard movement path of the continuous mining machine; The standard movement route is divided into equal parts according to a preset equal division distance, and an array of equal division point position information is obtained. The array of equal division point position information is used to represent the standard movement route.

3. The method according to claim 2, characterized in that, The method for calculating the target movement range of the continuous mining machine includes: Calculate the longitude and latitude components of the preset error value; Based on the longitude component, latitude component, and the array of equally divided point positions, the left and right movement boundaries are calculated, and the area between the left and right movement boundaries is the target movement range of the continuous mining machine.

4. The method according to claim 3, characterized in that, The method for calculating the number of corrections includes: Obtain the point on the reference line that is farthest from the coalfield, and calculate the vertical distance between the point farthest from the coalfield and the standard movement route; The number of corrections is calculated based on the vertical distance and the preset correction distance.

5. The method according to claim 4, characterized in that, Also includes: After each coal mining process is completed, the correction path for the next coal mining process is recalculated. The second correction mode ends when the correction path coincides with the standard motion path.

6. A motion correction system for a continuous mining machine, characterized in that, include: The method for correcting the motion of a continuous mining machine as described in any one of claims 1-5.

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