A method for straightening coal mining face based on laser radar and inertial navigation fusion positioning

Abstract

The present invention relates to the technical field of intelligent coal mining, and in particular to a method for straightening a coal mining face based on laser radar inertial navigation fusion positioning. Using inertial navigation data to obtain basic straightness information of the coal mining face can avoid the influence of high-concentration dust environment on data collection during coal mining; when the coal mining machine runs to the head / tail of the machine, it is in the interval of coal cutting, and the dust concentration is relatively small. The return air lane / inlet air lane is scanned by laser radar to obtain point cloud data, and the current point cloud data is spliced ​​with the previously collected point cloud data through an algorithm to obtain the current error, and the inertial navigation accuracy is calibrated with this data; finally, the support displacement is adjusted by fusing the data to achieve automatic straightening of the coal mining face. This method does not require the pre-deployment of markers in the tunnel, and has general applicability to the working face.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mining, and in particular to a method for straightening a coal mining face based on laser radar inertial navigation fusion positioning. Background Art

[0002] The coal mining machine straightening technology is a key link in the intelligent development of coal mine comprehensive mining working faces. Its background stems from the continuous improvement of coal mine production safety, efficiency and intelligence. In the process of coal mining, due to the complexity of the geological environment of the coal seam, the working face often fluctuates, making it difficult for the coal mining machine to maintain a straight line, which in turn affects the straightness of the coal wall, scraper conveyor and support. This will not only reduce the efficiency and quality of coal mining, but also may cause problems such as low quality of roof support and equipment damage. The establishment of an automatic straightening system for the coal mining working face can realize the intelligent operation of the coal mine comprehensive mining operation production process, and can also effectively reduce the labor intensity of workers and improve the safety and efficiency of coal mine production.

[0003] With the development of technology, a variety of coal mining machine straightening technologies have emerged at home and abroad. However, the existing technologies have the following problems:

[0004] Sensor accuracy problem. The current mainstream coal mining face alignment system is implemented through high-precision inertial navigation (IMU). During long-term use, IMU will gradually produce cumulative errors, resulting in a decrease in its measurement accuracy. Moreover, due to the limitations of the IMU's own principles, it is difficult to quickly calibrate the accuracy of the IMU during the coal mining process. In addition, high-precision IMUs are expensive and do not have a basis for popularization and use.

[0005] Dust environment problem in coal mining face. A large amount of dust is generated during the mining process of the coal mining face. At the same time, the coal mining machine will also spray water mist to reduce dust during the coal mining process. Therefore, the environment of the coal mining face is a mixed environment of dust and water mist. In this environment, the environmental perception effect of optical sensors (such as cameras, lidar, infrared cameras, etc.) is limited, and the accuracy is difficult to reach the preset standard.

[0006] Scene marker problem. In the existing technology, such as the invention patent application CN112762963A, it is necessary to set markers on the side of the tunnel, and the laser radar scans the markers to identify the tunnel side and perform positioning. The alignment system requires the pre-design and construction of the tunnel, and does not have the general adaptability of the tunnel, which limits the application scope and promotion of the alignment system.

[0007] In summary, the existing coal mining machine straightening technology has the problems of low accuracy and poor universality. Summary of the invention

[0008] Therefore, the technical problem to be solved by the present invention is to overcome the problems of low precision and poor universality in the prior art.

[0009] In order to solve the above technical problems, the present invention provides a method for straightening a coal mining working face, comprising:

[0010] At the initial position of the coal mining machine, the air intake tunnel or the return air tunnel is scanned by using a laser radar to construct an initial three-dimensional structural model of the air intake tunnel or the return air tunnel;

[0011] During the coal cutting operation of the shearer, the inertial navigation system is used to collect the operation trajectory of the shearer, and the support displacement sensor is used to collect the displacement of each support during the operation of the shearer;

[0012] When the coal mining machine runs to one end of the working face for the nth time, the air intake tunnel or the return air tunnel is scanned by using a laser radar, the three-dimensional structural model of the air intake tunnel or the return air tunnel is updated, and the laser radar change angle and the inertial navigation change angle between two adjacent scanning operations are calculated;

[0013] Calculating an inertial navigation error according to a laser radar change angle and an inertial navigation change angle between two adjacent scanning operations, and calculating a corrected coordinate of each bracket according to the inertial navigation error;

[0014] The corrected displacement distance of each support is calculated according to the corrected coordinates of each support, and the operation of the coal mining machine before it runs to one end of the working face for the n+1th time is guided according to the corrected displacement distance of each support.

[0015] Preferably, after the laser radar completes scanning each time, all sensors including the laser radar, the inertial navigation system and the bracket displacement sensor are calibrated.

[0016] Preferably, the step of scanning the air inlet tunnel or the return air tunnel by using a laser radar to construct an initial three-dimensional structural model of the air inlet tunnel or the return air tunnel comprises:

[0017] Use laser radar to scan the air inlet or return air channel to obtain point cloud data;

[0018] Fit the initial tunnel side fitting surface according to the point cloud data;

[0019] Delete points and isolated points in the point cloud data whose distance from the laser radar is less than the first preset value, and perform plane fitting. Repeat this step multiple times until all points in the point cloud data are evenly distributed in the spatial range with a distance of the second preset value on both sides of the fitting plane, and obtain the fitting surface of the target tunnel side.

[0020] Preferably, when the coal mining machine runs to one end of the working face for the nth time, the air intake tunnel or the return air tunnel is scanned by a laser radar to update the three-dimensional structural model of the air intake tunnel or the return air tunnel:

[0021] The nth target tunnel side fitting surface corresponding to the nth time the coal mining machine runs to one end of the working face and the n-1th target tunnel side fitting surface corresponding to the n-1th time the coal mining machine runs to one end of the working face are spliced.

[0022] Preferably, the step of calculating the laser radar change angle between two adjacent scanning operations comprises:

[0023] Determine a first inclination angle of the nth target lane side fitting surface relative to the laser radar;

[0024] Determine the second inclination angle of the n-1th target lane side fitting surface relative to the laser radar;

[0025] Compare and combine the nth target lane side fitting surface and the n-1th target lane side fitting surface to obtain the lane change angle between two adjacent scanning operations;

[0026] The laser radar change angle between two adjacent scanning operations is determined as the difference between the sum of the first inclination angle and the lane change angle and the second inclination angle.

[0027] Preferably, the calculating the inertial navigation error according to the laser radar change angle and the inertial navigation change angle between the two current adjacent scanning operations comprises:

[0028] The inertial navigation error is determined as a difference between the inertial navigation change angle and the laser radar change angle.

[0029] Preferably, the calculating the corrected coordinates of each bracket according to the inertial navigation error comprises:

[0030] Performing linear interpolation on the inertial navigation error to determine the inertial navigation error at the i-th bracket at the current moment;

[0031] The corrected coordinate value of the ith support is determined based on the inertial navigation error at the ith support at the current moment, the coordinate value of the i-1th support at the current moment, the trajectory coordinate point value of the coal mining machine when passing the ith support, and the trajectory coordinate point value of the coal mining machine when passing the i-1th support.

[0032] Preferably, the calculating the corrected displacement distance of each bracket according to the corrected coordinates of each bracket comprises:

[0033] Determine the average value of the corrected coordinates of each bracket;

[0034] Determine the difference between the corrected coordinate value of the i-th bracket and the average value;

[0035] The corrected displacement distance of the i-th bracket is determined as the difference between the planned displacement distance of the i-th bracket and the difference.

[0036] The present invention also provides a coal mining face straightening device, comprising:

[0037] A model initialization module is used to scan the air intake tunnel or the return air tunnel using a laser radar at the initial position of the coal mining machine to construct an initial three-dimensional structural model of the air intake tunnel or the return air tunnel;

[0038] The data acquisition module is used to collect the running track of the coal shearer by using the inertial navigation system during the coal cutting working stage of the coal shearer, and to collect the displacement of each support during the operation of the coal shearer by using the support displacement sensor;

[0039] An angle change calculation module is used to scan the air intake tunnel or return air tunnel using a laser radar when the coal mining machine runs to one end of the working face for the nth time, update the three-dimensional structural model of the air intake tunnel or return air tunnel, and calculate the laser radar change angle and inertial navigation change angle between two adjacent scanning operations;

[0040] A correction coordinate calculation module, used to calculate the inertial navigation error according to the laser radar change angle and the inertial navigation change angle between the two current adjacent scanning operations, and calculate the correction coordinates of each bracket according to the inertial navigation error;

[0041] The displacement distance correction module is used to calculate the corrected displacement distance of each support according to the corrected coordinates of each support, and guide the operation of the coal mining machine before it runs to one end of the working face for the n+1th time according to the corrected displacement distance of each support.

[0042] The present invention also provides a coal mining face straightening system, comprising:

[0043] Laser radar, installed at the end of the coal mining machine facing the tunnel or on both sides of the coal mining machine;

[0044] Inertial navigation system, installed in the coal mining machine;

[0045] A plurality of support displacement sensors are respectively installed on a plurality of hydraulic supports;

[0046] The coal mining face straightening method device as described above is respectively connected to the coal mining machine, the laser radar, the inertial navigation system and the multiple bracket displacement sensors.

[0047] The above technical solution of the present invention has the following advantages compared with the prior art:

[0048] The method for straightening the coal mining face described in the present invention utilizes laser radar, inertial navigation, and support displacement sensors installed on the coal mining machine to perform fusion positioning to straighten the coal mining face. Using inertial navigation data to obtain basic straightness information of the coal mining face can avoid the impact of high-concentration dust environment on data collection during the coal mining process; when the coal mining machine runs to the head / tail of the machine, it is in the coal cutting interval, and the dust concentration is relatively small. The return air lane / inlet air lane is scanned using a laser radar to obtain point cloud data, and the current point cloud data is combined with the previously collected point cloud data through an algorithm to obtain the current error, and the inertial navigation accuracy is calibrated with this data; finally, the support displacement is adjusted by fusing the data to achieve automatic straightening of the coal mining face. This method does not require pre-arrangement of markers in the tunnel, and has general applicability to the working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below according to specific embodiments of the present invention in conjunction with the accompanying drawings, wherein:

[0050] Figure 1 This is a flow chart of the implementation of a method for straightening a coal mining face provided by the present invention;

[0051] Figure 2 It is a schematic diagram of point cloud data;

[0052] Figure 3 It is a schematic diagram of displacement distance correction;

[0053] Figure 4 Schematic diagram of the coal mining process. DETAILED DESCRIPTION

[0054] The core of the present invention is to provide a method, device and system for straightening a coal mining face, which effectively improves the accuracy and universality of straightening a coal mining face.

[0055] In order to enable those skilled in the art to better understand the scheme of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] Please refer to Figure 1. Figure 1 This is a flow chart of a method for straightening a coal mining face provided by the present invention; the specific operation steps are as follows:

[0057] S101: At the initial position of the coal mining machine, the air intake tunnel or the return air tunnel is scanned by using a laser radar to construct an initial three-dimensional structural model of the air intake tunnel or the return air tunnel; the three-dimensional structure of the air intake tunnel / return air tunnel is scanned in advance by using a laser radar. This process is conducive to improving positioning accuracy and adapting to complex working faces.

[0058] S1012: During the coal cutting operation of the coal shearer, the operation trajectory of the coal shearer is collected using an inertial navigation system, and the displacement of each support during the operation of the coal shearer is collected using a support displacement sensor;

[0059] S103: When the coal mining machine runs to one end of the working face for the nth time, the air intake tunnel or the return air tunnel is scanned by using a laser radar, the three-dimensional structural model of the air intake tunnel or the return air tunnel is updated, and the laser radar change angle and the inertial navigation change angle between two adjacent scanning operations are calculated;

[0060] S104: calculating an inertial navigation error according to a laser radar change angle and an inertial navigation change angle between two adjacent scanning operations, and calculating a corrected coordinate of each bracket according to the inertial navigation error;

[0061] S105: Calculate the corrected displacement distance of each support according to the corrected coordinates of each support, and guide the operation of the coal mining machine before it runs to one end of the working face for the n+1th time according to the corrected displacement distance of each support.

[0062] Based on the above embodiments, this embodiment describes S101 in detail:

[0063] Scanning the air inlet tunnel or the return air tunnel using a laser radar to construct an initial three-dimensional structural model of the air inlet tunnel or the return air tunnel includes:

[0064] Use laser radar to scan the air inlet or return air channel to obtain point cloud data;

[0065] Fit the initial tunnel side fitting surface according to the point cloud data.

[0066] In a specific embodiment:

[0067] Perform plane fitting on the acquired point cloud data, such as least squares plane fitting, for coordinates Point cloud data, let the plane equation be , where , , All are parameters.

[0068] Make m coordinate points to the plane The distance is the shortest, even if the sum of the distances f is related:

[0069]

[0070] but:

[0071]

[0072]

[0073]

[0074] Right now:

[0075]

[0076] Solving the equation of the fitting plane gives .

[0077] When scanning the point cloud data of the side wall of the tunnel, due to the presence of hydraulic supports, transfer machines, belt conveyors and other equipment in the tunnel, the nose and tail of the scraper conveyor will also cause certain obstructions to the scanning process of the laser radar. The top view of the point cloud obtained is as follows: Figure 2 As shown, the point cloud data includes signal points at the side positions and interference points at the middle blocking object positions.

[0078] Therefore, in another specific embodiment, after obtaining the initial tunnel sidewall fitting surface, the following steps are further included:

[0079] Delete points and isolated points in the point cloud data whose distance to the laser radar is less than the first preset value, and perform plane fitting. Repeat this step multiple times (the specific number of times is determined by the point cloud processing effect) until all points in the point cloud data are evenly distributed in the spatial range with a distance of the second preset value L (L is the allowable value setting parameter) on both sides of the fitting plane, and obtain the fitting surface of the target tunnel side.

[0080] After each scanning operation of the laser radar, all sensors including the laser radar, the inertial navigation system and the bracket displacement sensor are calibrated;

[0081] For example: When the coal mining machine is in the initial position, the coordinates are When the inertial navigation angle is set to , the laser radar scans the tunnel structure, and the tunnel side fitting surface 0 is fitted by processing the acquired point cloud data. At this time, the laser radar records the inclination angle of the fitting surface 0 relative to the laser radar , time is .

[0082] Based on the above embodiments, this embodiment describes S102 in detail:

[0083] The shearer starts cutting coal, and the shearer's trajectory is recorded by inertial navigation. The kth coordinate point on the trajectory is recorded as , the time at this time is recorded as During this process, the bracket displacement recorded by the displacement sensor on the i-th bracket is .

[0084] Based on the above embodiments, this embodiment describes S103 in detail:

[0085] When the coal mining machine reaches one end of the working face for the nth time, record the inertial navigation angle at this time , the laser radar scans the tunnel structure and obtains the tunnel side fitting surface n. At this time, the laser radar records the inclination angle of the fitting surface n relative to the laser radar. , time is .

[0086] The nth target tunnel side fitting surface corresponding to the nth time the coal mining machine runs to one end of the working face and the n-1th target tunnel side fitting surface corresponding to the n-1th time the coal mining machine runs to one end of the working face are spliced.

[0087] Determine the first inclination angle of the nth target tunnel side fitting surface relative to the laser radar ;

[0088] Determine the second inclination angle of the n-1th target tunnel side fitting surface relative to the laser radar ;

[0089] Compare and combine the nth target lane side fitting surface and the n-1th target lane side fitting surface to obtain the lane change angle between two adjacent scanning operations. ;

[0090] Determine the laser radar change angle between two adjacent scanning operations as the difference between the sum of the first tilt angle and the lane change angle and the second tilt angle .

[0091] Calculate the angle change of inertial navigation .

[0092] Based on the above embodiments, this embodiment describes S104 in detail:

[0093] Determine the inertial navigation error as the difference between the inertial navigation change angle and the laser radar change angle .

[0094] Perform linear interpolation on the inertial navigation error to determine the inertial navigation error at the i-th bracket at the current time t ;

[0095] According to the inertial navigation error at the i-th bracket at the current moment , the coordinate value of the i-1th bracket at the current moment ( , ), the track coordinate point value of the coal mining machine when passing the i-th support ( , ) and the track coordinate point value of the coal mining machine when passing the i-1th support ( , ), determine the corrected coordinate value of the i-th bracket:

[0096]

[0097] Based on the above embodiments, this embodiment describes S105 in detail:

[0098] Determine the average value of the corrected coordinates of each bracket ; to the straight line ;

[0099] like Figure 3 , determine the difference between the corrected coordinate value of the i-th bracket and the average value ;

[0100] Determine the corrected displacement distance of the i-th stent as the planned displacement distance of the i-th stent The difference from the stated difference .

[0101] Based on the above embodiments, this embodiment provides a complete method for straightening a coal mining face based on laser radar inertial navigation fusion positioning, which is as follows:

[0102] (1) The three-dimensional structure of the air inlet / return air channel can be scanned in advance using laser radar. This process is conducive to improving positioning accuracy and adapting to complex working surfaces.

[0103] (2) All sensors are calibrated to zero, and the inertial navigation angle is now , the shearer coordinates are The laser radar scans the tunnel structure and processes the acquired point cloud data to fit the tunnel side fitting surface 0. At this time, the laser radar records the inclination angle of the fitting surface 0 relative to the laser radar. , time is .

[0104] (3) The shearer starts cutting coal. The shearer’s trajectory is recorded by inertial navigation. The kth coordinate point on the trajectory is recorded as , the time at this time is recorded as During this process, the bracket displacement recorded by the displacement sensor on the i-th bracket is .

[0105] (4) When the coal mining machine reaches one end of the working face for the nth time, record the inertial navigation angle at this time , the laser radar scans the tunnel structure and obtains the tunnel side fitting surface 1. At this time, the laser radar records the inclination angle of the fitting surface n relative to the laser radar , time is .

[0106] (5) Combine the fitting surface n and the fitting surface (n-1) to make them coincide or compare and combine them with the three-dimensional structure of the tunnel obtained in step 1 to obtain the angle change of the laser radar at this time. (In the formula It is the lane change angle obtained by comparing and stitching the three-dimensional lane structure obtained in step 1. If there is no step 1, this item is 0).

[0107] (6) Calculate the angle change of inertial navigation .

[0108] (7) The error angle of inertial navigation at this time .

[0109] (8) Linear interpolation is performed on the error angle, and the inertial navigation error angle at the i-th bracket is .

[0110] (9) When the two coordinate points (the trajectory coordinate points of the coal mining machine when passing through the i-th support ( , ) and the trajectory coordinate point of the coal mining machine when passing the i-1th support ( , )) When the distance between them is much smaller than the length of the working surface, the coordinate point at the i-th bracket can be corrected to

[0111]

[0112] in .

[0113] (10) According to the corrected coordinates, the coordinates of the i-th bracket are obtained as follows: , according to the coordinate values ​​of each bracket The average Get a straight line , the displacement error at each bracket is , then the next time the moving distance of each bracket should be corrected to , where Plan the travel distance for the stent.

[0114] (11) Repeat steps (2) to (10) to achieve automatic straightening during the coal cutting process.

[0115] The embodiment of the present invention further provides a coal mining face straightening device; the specific device may include:

[0116] A model initialization module is used to scan the air intake tunnel or the return air tunnel using a laser radar at the initial position of the coal mining machine to construct an initial three-dimensional structural model of the air intake tunnel or the return air tunnel;

[0117] The data acquisition module is used to collect the running track of the coal shearer by using the inertial navigation system during the coal cutting working stage of the coal shearer, and to collect the displacement of each support during the operation of the coal shearer by using the support displacement sensor;

[0118] An angle change calculation module is used to scan the air intake tunnel or return air tunnel using a laser radar when the coal mining machine runs to one end of the working face for the nth time, update the three-dimensional structural model of the air intake tunnel or return air tunnel, and calculate the laser radar change angle and inertial navigation change angle between two adjacent scanning operations;

[0119] A correction coordinate calculation module, used to calculate the inertial navigation error according to the laser radar change angle and the inertial navigation change angle between the two current adjacent scanning operations, and calculate the correction coordinates of each bracket according to the inertial navigation error;

[0120] The displacement distance correction module is used to calculate the corrected displacement distance of each support according to the corrected coordinates of each support, and guide the operation of the coal mining machine before it runs to one end of the working face for the n+1th time according to the corrected displacement distance of each support.

[0121] The coal mining face straightening device of the present embodiment is used to implement the aforementioned coal mining face straightening method. Therefore, the specific implementation method of the coal mining face straightening device can be seen in the implementation method part of the aforementioned coal mining face straightening method. For example, the model initialization module, the data acquisition module, the angle change calculation module, the corrected coordinate calculation module, and the displacement distance correction module are respectively used to implement steps S101, S102, S103, S104 and S105 in the aforementioned coal mining face straightening method. Therefore, its specific implementation method can refer to the description of the corresponding various parts of the implementation method and will not be repeated here.

[0122] The specific embodiment of the present invention also provides a coal mining face straightening system, comprising:

[0123] Laser radar, installed at the end of the coal mining machine facing the tunnel or on both sides of the coal mining machine;

[0124] Inertial navigation system, installed in the coal mining machine;

[0125] A plurality of support displacement sensors are respectively installed on a plurality of hydraulic supports;

[0126] The coal mining face straightening method device as described above is respectively connected to the coal mining machine, the laser radar, the inertial navigation system and the multiple bracket displacement sensors.

[0127] In the coal mining process, the air intake and return air tunnels are usually excavated on both sides of the coal seam to form a mining working face, and the coal seam is mined from far to near. Figure 4 As shown. A laser radar is installed on the side of the coal mining machine facing the tunnel. One laser radar can be installed on one side of the coal mining machine or one laser radar can be installed on both sides of the coal mining machine. An inertial navigation system is installed in the coal mining machine. A displacement sensor is installed on each hydraulic support.

[0128] Obviously, the above embodiments are merely examples for the purpose of clear explanation and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the present invention.

Claims

1. A method for straightening a coal mining face, characterized in that: include: At the initial position of the coal mining machine, the air intake tunnel or the return air tunnel is scanned by using a laser radar to construct an initial three-dimensional structural model of the air intake tunnel or the return air tunnel: Use laser radar to scan the air inlet or return air channel to obtain point cloud data; Fit the initial tunnel side fitting surface according to the point cloud data; Delete points and isolated points in the point cloud data whose distance from the laser radar is less than the first preset value, and perform plane fitting. Repeat this step multiple times until all points in the point cloud data are evenly distributed within the spatial range of the second preset value on both sides of the fitting plane, and obtain the fitting surface of the target tunnel sidewall; During the coal cutting operation of the shearer, the inertial navigation system is used to collect the operation trajectory of the shearer, and the support displacement sensor is used to collect the displacement of each support during the operation of the shearer; When the coal mining machine runs to one end of the working face for the nth time, the laser radar is used to scan the air intake tunnel or the return air tunnel, the three-dimensional structural model of the air intake tunnel or the return air tunnel is updated, and the laser radar change angle and the inertial navigation change angle between the current two adjacent scanning operations are calculated: The nth target tunnel side wall fitting surface corresponding to the time when the shearer runs to one end of the working face for the nth time and the n-1th target tunnel side wall fitting surface corresponding to the time when the shearer runs to one end of the working face for the nth time are spliced; Determine a first inclination angle of the nth target lane side fitting surface relative to the laser radar; Determine the second inclination angle of the n-1th target lane side fitting surface relative to the laser radar; Compare and combine the nth target lane side fitting surface and the n-1th target lane side fitting surface to obtain the lane change angle between two adjacent scanning operations; Determine the laser radar change angle between two adjacent scanning operations as the difference between the sum of the first inclination angle and the lane change angle and the second inclination angle; Calculating an inertial navigation error according to a laser radar change angle and an inertial navigation change angle between two adjacent scanning operations, and calculating a corrected coordinate of each bracket according to the inertial navigation error; The corrected displacement distance of each support is calculated according to the corrected coordinates of each support, and the operation of the coal mining machine before it runs to one end of the working face for the n+1th time is guided according to the corrected displacement distance of each support.

2. The method for straightening a coal mining face according to claim 1, characterized in that: After the laser radar completes scanning each time, all sensors including the laser radar, the inertial navigation system and the bracket displacement sensor are calibrated.

3. The method for straightening a coal mining face according to claim 1, characterized in that: The calculating of the inertial navigation error according to the laser radar change angle and the inertial navigation change angle between the two current adjacent scanning operations comprises: The inertial navigation error is determined as a difference between the inertial navigation change angle and the laser radar change angle.

4. The method for straightening a coal mining face according to claim 1, characterized in that: The calculating the corrected coordinates of each bracket according to the inertial navigation error comprises: Performing linear interpolation on the inertial navigation error to determine the inertial navigation error at the i-th bracket at the current moment; The corrected coordinate value of the ith support is determined based on the inertial navigation error at the ith support at the current moment, the coordinate value of the i-1th support at the current moment, the trajectory coordinate point value of the coal mining machine when passing the ith support, and the trajectory coordinate point value of the coal mining machine when passing the i-1th support.

5. The method for straightening a coal mining face according to claim 4, characterized in that: The step of calculating the corrected displacement distance of each bracket according to the corrected coordinates of each bracket comprises: Determine the average value of the corrected coordinates of each bracket; Determine the difference between the corrected coordinate value of the i-th bracket and the average value; The corrected displacement distance of the i-th bracket is determined as the difference between the planned displacement distance of the i-th bracket and the difference.

6. A coal mining face straightening device, characterized in that: include: The model initialization module is used to scan the air intake tunnel or the return air tunnel using a laser radar at the initial position of the coal mining machine to construct an initial three-dimensional structural model of the air intake tunnel or the return air tunnel: Use laser radar to scan the air inlet or return air channel to obtain point cloud data; Fit the initial tunnel side fitting surface according to the point cloud data; Delete points and isolated points in the point cloud data whose distance from the laser radar is less than the first preset value, and perform plane fitting. Repeat this step multiple times until all points in the point cloud data are evenly distributed within the spatial range of the second preset value on both sides of the fitting plane, and obtain the fitting surface of the target tunnel sidewall; The data acquisition module is used to collect the running track of the coal shearer by using the inertial navigation system during the coal cutting working stage of the coal shearer, and to collect the displacement of each support during the operation of the coal shearer by using the support displacement sensor; The angle change calculation module is used to scan the air intake tunnel or return air tunnel using a laser radar when the coal mining machine runs to one end of the working face for the nth time, update the three-dimensional structural model of the air intake tunnel or return air tunnel, and calculate the laser radar change angle and inertial navigation change angle between the current two adjacent scanning operations: The nth target tunnel side wall fitting surface corresponding to the time when the shearer runs to one end of the working face for the nth time and the n-1th target tunnel side wall fitting surface corresponding to the time when the shearer runs to one end of the working face for the nth time are spliced; Determine a first inclination angle of the nth target lane side fitting surface relative to the laser radar; Determine the second inclination angle of the n-1th target lane side fitting surface relative to the laser radar; Compare and combine the nth target lane side fitting surface and the n-1th target lane side fitting surface to obtain the lane change angle between two adjacent scanning operations; Determine the laser radar change angle between two adjacent scanning operations as the difference between the sum of the first inclination angle and the lane change angle and the second inclination angle; A correction coordinate calculation module, used to calculate the inertial navigation error according to the laser radar change angle and the inertial navigation change angle between the two current adjacent scanning operations, and calculate the correction coordinates of each bracket according to the inertial navigation error; The displacement distance correction module is used to calculate the corrected displacement distance of each support according to the corrected coordinates of each support, and guide the operation of the coal mining machine before it runs to one end of the working face for the n+1th time according to the corrected displacement distance of each support.

7. A coal mining face straightening system, characterized in that: include: Laser radar, installed at the end of the coal mining machine facing the tunnel or on both sides of the coal mining machine; Inertial navigation system, installed in the coal mining machine; A plurality of support displacement sensors are respectively installed on a plurality of hydraulic supports; The coal mining face straightening device as described in claim 6 is respectively connected to the coal mining machine, the laser radar, the inertial navigation system and the multiple bracket displacement sensors.

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