Radar detection based shearer rocker arm adaptive height control method

Abstract

The present application provides a coal cutter rocker arm adaptive height control method based on radar detection, the drum radar installation position, the radar is installed in the center position inside the front and rear drum, the method of single radar detection is used, and the left and right drums need to be installed with radars, when the floating coal is less, the front drum radar is used to identify the roof, the rear drum radar is used to identify the floor, and the double drum radar is used to identify the floor position at the same time; when the floating coal is more, the memory cutting method is used to identify the floor position, the coordinate system is established, and the coordinate system is established for the drum, the radar and the coal cutter body respectively, wherein the radar is installed inside the drum, the coordinate positions of the drum and the radar are coincided, the known relationship between the coal cutter parameters and the coordinates is used to calculate the drum height adjustment amount, the distance of the body movement and the rocker arm rotation angle, and finally the automatic height adjustment of the rocker arm is realized. The present application can accurately realize the adaptive height control of the coal cutter rocker arm.

Description

Technical Field

[0001] This invention relates to an adaptive height adjustment control method for the rocker arm of a coal mining machine based on radar detection. Specifically, it uses radar detection to identify the coal-rock interface and establishes a coordinate system to obtain the positions of the machine body, drum, and radar, thereby enabling automatic height adjustment of the coal mining machine drum. This method belongs to the field of intelligent coal mining. Background Technology

[0002] With the rapid development of coal mine automation technology, coal mining technology is gradually moving towards intelligence and unmanned operation. Coal mining machines are crucial equipment in coal face mining, playing a guiding role in the coal production process. The intelligentization of fully mechanized mining faces is not merely about solving the single problem of intelligent control of face equipment, but rather forming a complete intelligent working face system encompassing multiple aspects such as perception, interconnection, analysis, self-learning, prediction, decision-making, and control of the fully mechanized mining equipment's operating conditions. Automatic height adjustment technology for the coal mining machine drum is the core of its automatic control technology. Generally, a height adjustment device is used to adjust the height of the coal mining machine drum to facilitate coal extraction. To achieve automatic height adjustment of the coal mining machine drum, the key is the real-time accurate detection and intelligent identification of the coal-rock interface. Many current research methods for coal-rock interface identification are based on ideal coal-rock strata, identifying the interface under this premise. However, the actual mine environment is very complex. Coal seams may contain gravel, cracks, gas, water, and other media. Furthermore, the coal-rock interface may be gradual, discontinuous, and prone to abrupt changes. Currently applied technologies include natural gamma-ray detection and memory cutting methods, both of which have specific requirements regarding the type of rock strata. Controlling the height of the coal mining machine drum largely relies on manual intervention, which is both time-consuming and labor-intensive. In complex mining environments, operators find it difficult to accurately and promptly determine the cutting status of the coal mining machine. Summary of the Invention

[0003] To overcome the shortcomings of existing technologies, this invention provides a radar-based adaptive height control method for the rocker arm of a coal mining machine. By using radar installed at the center of the drum, the method can effectively identify and detect the coal-rock interface. The established coordinate system is used to obtain the positions of the machine body, drum, and radar to achieve adaptive height control of the rocker arm of the coal mining machine, thus providing conditions for the automated control of the coal mining machine.

[0004] The adaptive height adjustment control method for the rocker arm of a coal mining machine based on radar detection includes: the installation position of the drum radar, the radar installation method, the radar usage method, and the establishment of a coordinate system, wherein:

[0005] Preferably, the installation position of the drum radar is such that the radar is fixed on the end plate of the left and right drums of the coal mining machine and located at the internal center of the drum. The drum coordinate system coincides with the radar coordinate system. The installation position of the radar in the drum needs to be determined according to the size of the drum space. Some drums have enough space, while others do not. For small-sized drums with insufficient space, a redesign is required.

[0006] The radar installation method involves installing radars on both the left and right drums. When moving forward, the radar on the front drum identifies the position of the roof, and the radar on the rear drum identifies the position of the bottom. The radar is used to detect the height of the left and right drums from the coal-rock interface. When returning, the vertical positions of the front and rear drums are reversed. The radar on the rear drum identifies the position of the roof, and the radar on the front drum identifies the position of the bottom. A coordinate system is established using the installation position of the drum radars to collect data and identify the positions of the roof and bottom.

[0007] The radar usage method employs a forward-facing drum radar to identify the top plate position, while a rear drum radar identifies the bottom plate position. If there is a significant amount of loose coal at the bottom plate position, using the rear drum radar to identify the bottom plate position is inaccurate; therefore, a memory-based cutting method is used to identify the bottom plate position. Alternatively, a dual-radar simultaneous operation mode can be used to identify the bottom plate position, depending on the amount of loose coal. When there is relatively little loose coal and high accuracy is achieved, the rear drum radar is used to identify the bottom plate position; when there is a significant amount of loose coal, the memory-based cutting method is used to identify the bottom plate position. The bottom plate position is identified by adjusting the rear drum height or (rear rocker arm angle). When the radar identification range covers the entire bottom plate position, the front drum is used directly to identify the bottom plate position.

[0008] The process involves establishing a coordinate system and drawing a simplified diagram of the coal mining machine. The diagram marks the positions of three coordinate systems: the drum, the radar, and the machine body. The drum's cutting direction is disregarded; only the machine body's travel distance and the drum's lifting height are calculated. The radar coordinates are used to record the drum's position, and the machine body coordinates are used to record the machine body's position. The radar identifies the positions of the top and bottom plates of the coal-rock interface. First, the radar identifies the positions of the top and bottom plates in the radar coordinate system. Then, the drum height adjustment is switched to the drum coordinate system. Without considering installation errors, the drum coordinate system and the radar coordinate system are the same. The drum is then raised to its highest point. The coordinate position is determined, and then the rotation angle of the rocker arm is obtained using coordinate transformation. The machine body angle affects the automatic height adjustment of the drum. When the machine body coincides with the horizontal direction of the bottom plate, the movement trajectory of the drum is a circle with the rocker arm as the radius. After the drum is heightened, there is an offset in the x-direction, and the coal mining machine body needs to move forward to compensate for the offset. When there is an angle between the machine body and the horizontal direction, the change in the machine body angle affects the height adjustment of the drum and the offset in the horizontal direction. The two movements of the drum and the machine body are known. At this time, the machine body moves upward along the inclined roadway with the angle. The distance to be moved in the horizontal direction is calculated using trigonometric functions. This is the rotation angle of the rocker arm and the horizontal movement that need to be calculated.

[0009] Preferably, when there is a lot of floating coal on the bottom plate in the radar usage method, the bottom plate position is identified by memory cutting. Coal and rock cutting is achieved by tracking the known coal-rock interface. Only the cutting trajectory corresponding to the coal-rock interface needs to be obtained. By tracking the trajectory, the height of the drum can be automatically adjusted to identify the bottom plate of coal and rock.

[0010] Preferably, the method for establishing a coordinate system to achieve adaptive height adjustment of the rocker arm is as follows:

[0011] First, coordinate systems are established for the drum, radar, and body of the coal mining machine. The center of the coal mining machine body is selected as the origin. The initial position coordinates of the coal mining machine body are set as (X0, Y0, Z0). The direction of the coal mining machine body's movement is taken as the x-axis, the direction of the coal mining machine's cutting drum lifting is taken as the y-axis, and the direction of the coal mining machine's drum's advance is taken as the z-axis. The attitude and position of the body are collected using an inertial navigation device. The rotation angle of the coal mining machine's rocker arm is calculated by the forming sensor of the hydraulic cylinder. The rocker arm is equipped with an inertial navigation system that can measure the angle. The body angle is measured by the hydraulic cylinder sensor. The length of the rocker arm is known. The machine's position is known, specifically including the initial position coordinates of the coal mining machine, the initial position coordinates of the drum radar, the tilt angle of the coal mining machine body, and the rotation angle of the rocker arm. Based on this information, the lifting height of the coal mining machine drum, the travel distance of the coal mining machine body, and the rotation angle of the rocker arm are calculated. If the drum is raised to the point directly above, given the machine's angle, the distance to move forward and the height of the drum are adjusted accordingly. The height adjustment of the drum is then converted into the rotation angle β of the rocker arm. The return is the same as the forward movement, except that the automatic height adjustment direction of the front and rear drums changes. At this time, the rear drum automatically rises while the front drum correspondingly lowers.

[0012] The following two situations are two types of situations that occur when the coal mining machine is moving in the forward direction;

[0013] When the coal mining machine body is parallel to the working face floor, let the initial position angle of the rocker arm be β0, the angle between the machine body and the roadway be α0=0, and the length of the rocker arm be L0. Let the initial position coordinates of the coal mining machine drum be (X1, Y1, Z1). The coordinates of the drum at its highest point when the radar detects the roof sampling position are (X1, Y1, Z1). M Y M Z M At this point, the rocker arm's rotation angle is β1. Let the height of the drum from its initial position to directly above be h. Based on the initial position coordinates of the coal mining machine body (X0, Y0, Z0) and the initial position coordinates of the drum (X1, Y1, Z1), the advance amount of the coal mining machine body along the x-axis can be calculated from the given conditions. The height adjustment of the roller is The angle of rotation of the rocker arm is Distance between rollers when the rotation angle is β ;

[0014] When there is an angle α between the coal mining machine body and the working face floor, let the initial position rotation angle of the rocker arm be β2, the angle between the machine body and the roadway be α, the length of the rocker arm be L0, and the initial position coordinates of the drum be (X... B Y B Z B When the radar detects the top plate, the coordinates of the roller adjustment to its highest point are marked as (X). T Y T Z TAt this point, the rocker arm's rotation angle is β3. Let the height of the drum from its initial position to directly above be h. Based on the initial position coordinates (X0, Y0, Z0) of the coal mining machine body and the initial position coordinates (X...) of the drum... B Y B Z B The calculated adjustment amount of the roller is, based on the given conditions, [the required adjustment amount]. ,Depend on The compensation amount of the coal mining machine body along the x-axis is obtained as follows: The distance the fuselage advances along the working surface of the base plate The angle of rotation of the rocker arm is When the rotation angle is β, the distance between the rollers is .

[0015] The beneficial effects of this invention are as follows: This invention provides a radar-based adaptive height adjustment control method for the rocker arm of a coal mining machine. The radar is installed at the center of the left and right drums. A coordinate system is established for the drums, radar, and coal mining machine body. The radar coordinate system and the drum coordinate system coincide. The relationship between the coordinates is used to realize the automatic adjustment of the height of the coal mining machine drum, as well as the distance compensation of the bottom plate position of the coal mining machine body along the working face direction and the calculation of the rocker arm swing angle. This achieves the purpose of automatic drum height adjustment, scientific prediction, safe mining, and improved coal mining efficiency. Attached Figure Description

[0016] Figure 1 This is a diagram showing the external shape and deployment structure of the radar system of this invention;

[0017] Figure 2 This is a schematic diagram of the working structure of the upper roof and lower floor at the coal-rock interface of the present invention;

[0018] In the diagram: 1. Roof position; 2. Floor position; 3. Coal mining machine; 4. Front drum; 5. Front drum radar; 6. Rear drum; 7. Rear drum radar; 8. Rocker arm;

[0019] Figure 3a This is one of the schematic diagrams illustrating the establishment of a coordinate system between the drum, radar, and machine body in the case where the coal mining machine body is parallel to the working face floor plate in an embodiment.

[0020] Figure 3b The second schematic diagram illustrates the establishment of a coordinate system between the drum, radar, and machine body in the case where the coal mining machine body is parallel to the working face floor plate in the embodiment.

[0021] Figure 3c This is one of the schematic diagrams illustrating the establishment of a coordinate system for the working drum, radar, and machine body when there is an angle α between the coal mining machine body and the working face floor plate in the embodiment.

[0022] Figure 3dThis is the second schematic diagram illustrating the establishment of a coordinate system between the working drum, radar, and machine body when there is an angle α between the coal mining machine body and the working face floor plate in the embodiment. Detailed Implementation

[0023] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some examples of the present invention. All embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0024] An adaptive height adjustment control method for the rocker arm of a coal mining machine based on radar detection includes: the installation position of the drum radar, the radar installation method, and the radar usage method; establishing a coordinate system, wherein:

[0025] The installation location of the drum radar is as follows: Figure 1 The radar is fixed to the end plate of the front drum 4 and rear drum 6 of the coal mining machine through the radar fixing hole. It is located at the internal center of the drum. The drum coordinate system coincides with the radar coordinate system. The installation position of the radar in the drum needs to be determined according to the size of the drum space. Some drums have enough space, while others do not. For small-sized drums with insufficient space, a redesign is required to determine the installation position of the radar in the drum.

[0026] The radar installation method described above, Figure 2 In this method, radars are installed on both the front drum 4 and the rear drum 6. When moving forward, the front drum radar 5 identifies the roof position 1, and the rear drum radar 7 identifies the bottom position 2. The radars detect the height h of the front drum 4 and the rear drum 6 from the coal-rock interface. When returning, the upper and lower positions of the front drum 4 and the rear drum 6 are reversed. The rear drum radar 7 identifies the roof position 1, and the front drum radar 5 identifies the bottom position 2. A coordinate system is established using the installation position of the drum radars to collect data and identify the roof position 1 and the bottom position 2. The installation method of the radars is determined to achieve adaptive height adjustment of the rocker arm 8 of the coal mining machine 3.

[0027] The radar usage method employs a forward-facing drum radar 5 (or 7) to identify the top plate position 1, and a rear drum radar 7 (or 5) to identify the bottom plate position 2. If there is a large amount of loose coal at the bottom plate position 2, using the rear drum radar 7 to identify the bottom plate position 2 is inaccurate. Therefore, a memory-based cutting method is used to identify the bottom plate position 2. Alternatively, a dual-radar simultaneous operation mode can be used to identify the bottom plate position 2, depending on the amount of loose coal. When there is relatively little loose coal and the accuracy is high, the rear drum radar 7 is used to identify the bottom plate position 2. When there is a large amount of loose coal, the memory-based cutting method is used for identification. The bottom plate position 2 is identified by adjusting the height of the rear roller 6 (or the angle of the rear rocker arm 8). When the radar identification range covers the entire bottom plate position 2, the front roller radar 5 is used directly to identify the bottom plate position 2. When there is a lot of floating coal on the bottom plate, the memory cutting method is used to identify the bottom plate position 2. Coal and rock cutting is achieved by tracking the known coal-rock interface. It is only necessary to obtain the cutting trajectory corresponding to the coal-rock interface. The height of the rocker arm 8 can be automatically adjusted by tracking the trajectory to identify the bottom plate under the coal and rock. The coal-rock interface can be accurately identified by using a single radar and dual radars simultaneously.

[0028] The process involves establishing a coordinate system and drawing a simplified diagram of the coal mining machine. The diagram marks the positions of three coordinate systems: the drum, the radar, and the machine body. The drum's cutting direction is disregarded; only the machine body's travel distance and the drum's lifting height are calculated. The radar coordinates are used to record the drum's position, and the machine body coordinates are used to record the machine body's position. The radar identifies the positions of the roof and floor at the coal-rock interface. First, the radar identifies the roof and floor positions in the radar coordinate system. Then, the drum height adjustment is switched to the drum coordinate system. Without considering installation errors, the drum and radar coordinate systems are considered to be the same. The drum is then raised to its highest point. The coordinate position is determined, and then the rotation angle of the rocker arm is obtained using coordinate transformation. The machine body angle affects the automatic height adjustment of the drum. When the machine body coincides with the horizontal direction of the bottom plate, the movement trajectory of the drum is a circle with the rocker arm as the radius. After the drum is heightened, there is an offset in the x-direction, and the coal mining machine body needs to move forward to compensate for the offset. When there is an angle between the machine body and the horizontal direction, the change in the machine body angle affects the height adjustment of the drum and the offset in the horizontal direction. The two movements of the drum and the machine body are known. At this time, the machine body moves upward along the inclined roadway with the angle. The distance to be moved in the horizontal direction is calculated using trigonometric functions. This is the rotation angle of the rocker arm and the horizontal movement that need to be calculated.

[0029] exist Figures 3a to 3b A coordinate system is established for the drum, radar, and machine body. The initial coordinates of the machine body are set as (X0, Y0, Z0). When the machine body is parallel to the working face floor, the coordinates of the highest point of the drum and the machine body are denoted as (X0, Y0, Z0). M YM Z M ) and (X i Y i Z i );exist Figures 3c to 3d When there is an angle α between the coal mining machine body and the working face floor, the coordinates of the highest point of the coal mining machine drum and the position of the machine body are denoted as (X, α). T Y T Z T ) and (X e Y e Z e ).

[0030] The principle of establishing a coordinate system to achieve adaptive height adjustment of the rocker arm is as follows:

[0031] First, establish coordinate systems for the three positions: the drum, the radar, and the fuselage, respectively. Figure 3a As shown, the center position of the coal mining machine body is selected as the origin of the coordinate system. The initial position coordinates of the coal mining machine body are set as (X0, Y0, Z0). The direction of the coal mining machine body's movement is taken as the x-axis, the direction of the coal mining machine's cutting drum lifting is taken as the y-axis, and the direction of the coal mining machine's drum advancing is taken as the z-axis. The attitude and position of the machine body are collected using an inertial navigation device. The rotation angle of the coal mining machine's rocker arm is calculated by the stroke sensor of the hydraulic cylinder. The rocker arm is equipped with an inertial navigation system that can measure the angle. The machine body angle is measured using a hydraulic cylinder sensor. The length of the rocker arm and the position of the coal mining machine body are known. Specifically, this includes the initial position coordinates of the coal mining machine. Information such as the initial position coordinates of the drum radar, the tilt angle of the coal mining machine body, and the rotation angle of the rocker arm are used to comprehensively calculate the lifting height of the coal mining machine drum, the travel distance of the coal mining machine body, and the rotation angle of the rocker arm. If the drum is raised to the point directly above, given the angle of the machine body, how far forward to travel and how much the drum is raised, and how much the drum is raised is converted into the rotation angle β of the rocker arm. The return is similar to the forward movement, except that the automatic height adjustment direction of the front and rear drums changes. At this time, the rear drum automatically raises while the front drum lowers accordingly. The following two situations are the two types of situations that occur when the coal mining machine is moving forward.

[0032] When the coal mining machine body is parallel to the working face floor, Figures 3a to 3b Let the initial rotation angle of the rocker arm be β0, the angle between the machine body and the roadway be α0=0, and the length of the rocker arm be L0. Let the initial position coordinates of the coal mining machine drum be (X1, Y1, Z1). Let the coordinates of the drum at its highest point when the radar detects the roof sampling position be (X1, Y1, Z1). M Y M Z MAt this point, the rocker arm's rotation angle is β1. Let the height of the drum from its initial position to directly above be h. Based on the initial position coordinates of the coal mining machine body (X0, Y0, Z0) and the initial position coordinates of the drum (X1, Y1, Z1), the advance amount of the coal mining machine body along the x-axis can be calculated from the given conditions. The height adjustment of the roller is The angle of rotation of the rocker arm is Distance between rollers when the rotation angle is β ;

[0033] When there is an angle α between the coal mining machine body and the working face floor, Figures 3c to 3d Let the initial rotation angle of the rocker arm be β2, the angle between the machine body and the tunnel be α, and the length of the rocker arm be L0. Let the initial position coordinates of the drum be (X). B Y B Z B When the radar detects the top plate, the coordinates of the roller adjustment to its highest point are marked as (X). T Y T Z T At this point, the rocker arm's rotation angle is β3. Let the height of the drum from its initial position to directly above be h. Based on the initial position coordinates (X0, Y0, Z0) of the coal mining machine body and the initial position coordinates (X...) of the drum... B Y B Z B The calculated adjustment amount of the roller is, based on the given conditions, [the required adjustment amount]. ,Depend on The compensation amount of the coal mining machine body along the x-axis is obtained as follows: The distance the fuselage advances along the working surface of the base plate The angle of rotation of the rocker arm is When the rotation angle is β, the distance between the rollers is .

[0034] The contents not described in detail in this specification are existing technologies known to those skilled in the art.

[0035] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technologies. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A radar-based adaptive height control method for the rocker arm of a coal mining machine, characterized in that, include: Installation location of the drum radar, radar installation method, radar usage method, and establishment of a coordinate system; The drum radar is installed on the end plates of the left and right drums of the coal mining machine, located at the center of the inside of the drum, with the drum coordinate system coinciding with the radar coordinate system. The radar installation method involves installing radars on both the left and right drums. When moving forward, the radar on the front drum identifies the position of the roof, and the radar on the rear drum identifies the position of the bottom. The radar is used to detect the height of the front and rear drums from the coal-rock interface. When returning, the vertical positions of the front and rear drums are reversed, and the radar on the rear drum identifies the position of the roof, while the radar on the front drum identifies the position of the bottom. A coordinate system is established using the installation positions of the drum radars to collect data and identify the positions of the roof and bottom. The radar usage method employs a forward-facing drum radar to identify the top plate position, while a rear drum radar identifies the bottom plate position. If there is a lot of loose coal at the bottom plate position, a memory-based cutting method is used to identify the bottom plate position. Alternatively, a dual-radar simultaneous operation mode can be used to identify the bottom plate position, depending on the amount of loose coal. When there is little loose coal and high accuracy, the rear drum radar is used to identify the bottom plate position; when there is a lot of loose coal, a memory-based cutting method is used to identify the bottom plate position, and the bottom plate position is identified by adjusting the height of the rear drum. When the radar identification range covers the entire bottom plate position, the front drum is used directly to identify the bottom plate position. The process involves establishing a coordinate system and drawing a simplified diagram of the coal mining machine. The diagram marks the positions of three coordinate systems: the drum, the radar, and the machine body. The drum's cutting direction is disregarded; only the machine body's travel distance and the drum's lifting height are calculated. The radar coordinates are used to record the drum's position, and the machine body coordinates are used to record the machine body's position. The radar identifies the positions of the roof and floor of the coal-rock interface. First, the radar identifies the roof and floor positions in the radar coordinate system. Then, the drum height adjustment is switched to the drum coordinate system. Without considering installation errors, the drum and radar coordinate systems are considered to be the same. The drum is then raised to its highest point. The position is marked, and then the rotation angle of the rocker arm is obtained using coordinate transformation. The machine body angle affects the automatic height adjustment of the drum. When the machine body coincides with the horizontal direction of the bottom plate, the movement trajectory of the drum is a circle with the rocker arm as the radius. After the drum is heightened, there is an offset in the x-direction, and the coal mining machine body needs to move forward to compensate for the offset. When there is an angle between the machine body and the horizontal direction, the change in the machine body angle affects the height adjustment of the drum and the offset in the horizontal direction. The two movements of the drum and the machine body are known. At this time, the machine body moves upward along the inclined roadway with the angle. The distance to be moved in the horizontal direction is calculated using trigonometric functions, and the rotation angle of the rocker arm and the horizontal movement need to be calculated.

2. The adaptive height adjustment control method for the rocker arm of a coal mining machine based on radar detection according to claim 1, characterized in that, In radar usage, when there is a lot of floating coal on the bottom plate, the memory cutting method is used to identify the bottom plate position. Coal cutting is achieved by tracking the known coal-rock interface, obtaining the cutting trajectory corresponding to the coal-rock interface, and automatically adjusting the roller height by tracking the trajectory to identify the bottom plate of coal and rock.

3. The adaptive height adjustment control method for the rocker arm of a coal mining machine based on radar detection according to claim 1, characterized in that, The method for establishing a coordinate system to achieve adaptive height adjustment of the rocker arm is as follows: First, coordinate systems are established for the drum, radar, and body of the coal mining machine. The center of the coal mining machine body is selected as the origin. The initial position coordinates of the coal mining machine body are set as (X0, Y0, Z0). The direction of the coal mining machine body's movement is taken as the x-axis, the direction of the coal mining machine's cutting drum lifting is taken as the y-axis, and the direction of the coal mining machine's drum's advance is taken as the z-axis. The attitude and position of the body are collected using an inertial navigation device. The rotation angle of the coal mining machine's rocker arm is calculated by the stroke sensor of the hydraulic cylinder. The rocker arm is equipped with an inertial navigation system that can measure the angle. The body angle is measured by the hydraulic cylinder sensor. The length of the rocker arm is known. The machine's position is known, specifically including the initial position coordinates of the coal mining machine, the initial position coordinates of the drum radar, the tilt angle of the coal mining machine body, and the rocker arm rotation angle. Based on this information, the lifting height of the coal mining machine drum, the travel distance of the coal mining machine body, and the rotation angle of the rocker arm are calculated. If the drum is raised to the point directly above, given the machine's angle, the distance to move forward and the height of the drum are adjusted accordingly. The height adjustment of the drum is then converted into the rotation angle β of the rocker arm. The return is the same as the forward movement, except that the automatic height adjustment direction of the front and rear drums changes. At this time, the rear drum automatically rises while the front drum correspondingly lowers. The following two situations are two types of situations that occur when the coal mining machine is moving in the forward direction; When the coal mining machine body is parallel to the working face floor, let the initial position angle of the rocker arm be β0, the angle between the machine body and the roadway be α0=0, and the length of the rocker arm be L0. Let the initial position coordinates of the coal mining machine drum be (X1, Y1, Z1). The coordinates of the drum at its highest point when the radar detects the roof sampling position are (X1, Y1, Z1). M Y M Z M At this point, the rocker arm's rotation angle is β1. Let the height of the drum from its initial position to directly above be h. Based on the initial position coordinates of the coal mining machine body (X0, Y0, Z0) and the initial position coordinates of the drum (X1, Y1, Z1), the advance amount of the coal mining machine body along the x-axis can be calculated using the given conditions. The height adjustment of the roller is The angle of rotation of the rocker arm is Distance between rollers when the rotation angle is β ; When there is an angle α between the coal mining machine body and the working face floor, let the initial position rotation angle of the rocker arm be β2, the angle between the machine body and the roadway be α, the length of the rocker arm be L0, and the initial position coordinates of the drum be (X... B Y B Z B When the radar detects the top plate, the coordinates of the roller adjustment to its highest point are marked as (X). T Y T Z T At this point, the rocker arm's rotation angle is β3. Let the height of the drum from its initial position to directly above be h. Based on the initial position coordinates (X0, Y0, Z0) of the coal mining machine body and the initial position coordinates (X...) of the drum... B Y B Z B The roller height adjustment amount is calculated based on the given conditions. ,Depend on The compensation amount of the coal mining machine body along the x-axis is obtained as follows: The distance the fuselage advances along the working surface of the base plate The angle of rotation of the rocker arm is When the rotation angle is β, the distance between the rollers is .

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