Coal mine working face straightness measuring system and method based on pneumatic robot

Abstract

The invention provides a coal mine working face straightness measuring system and method based on a pneumatic robot, and the system comprises the pneumatic robot, an inertial navigation system, a flexible pipeline, a winding device, a control system and a data processing device. The pneumatic robot runs in the flexible pipeline by taking the flexible pipeline as a running track, and the free end of a winding wire of the winding device is connected with the pneumatic robot or the inertial navigation system; the control system is used for controlling the pneumatic robot and the winding device to work, and the data processing device is used for collecting measurement data of the inertial navigation system and calculating straightening parameters of the hydraulic support based on the measurement data; wherein the flexible pipeline is installed on the outer side of a fender of the scraper conveyor, measurement data are position information data of the scraper conveyor, and the problems that in the prior art, real-time performance is achieved, detection cannot be conducted within a certain range, and multiple error sources exist are solved.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent control of fully mechanized mining working faces, and in particular to a coal mine working face straightness measurement system and method based on a pneumatic robot. Background Art

[0002] Coal is the main energy source in my country. Currently, coal mining is developing towards automation and intelligence. The "Coal Mine Safety Regulations" stipulate that during comprehensive mechanized coal mining, the coal wall, scraper conveyor and support of the working face must remain straight, that is, the "three straights" in the "three straights and two flats". Among them, the straightness control of the fully mechanized working face is an important part of realizing intelligent mining. The problem of straightness control during the continuous advancement of the working face has become a technical bottleneck for unmanned mining of the fully mechanized working face. The premise for realizing the straightness control of the working face is to measure the straightness of the working face. The straightness of the working face is an important operating parameter of the fully mechanized working face.

[0003] At present, the existing working face straightness measurement methods generally include coal mining machine inertial navigation measurement methods and scraper conveyor straightening methods. Among them, the coal mining machine inertial navigation measurement method has the following problems in achieving working face straightness measurement: 1. The strong vibration of the coal mining machine leads to error accumulation; 2. It is impossible to monitor in real time; 3. The hydraulic support cannot be adjusted during measurement and straightening, otherwise it must be re-measured; 4. The coal mining machine cannot be operated during self-seeking; 5. The conditions of different coal seams in China are complex, and the application effect is relatively poor. 6. Because it is mounted on the coal mining machine, the straightness of half of the coal mining machine body area at the head and tail of the machine cannot be measured. Although there are many methods for scraper conveyor straightening, including straightness detection methods and equipment based on binocular vision, laser radar, position sensor, and ultrasonic sensor, most methods still remain at the theoretical analysis level, and factors such as equipment cost and harsh underground working environment are not considered enough, and they fail to meet the requirements of actual industrial applications.

[0004] Therefore, providing a straightness detection method with the advantages of real-time detection, high precision and no influence on the operation of the coal mining machine is of vital importance to better realize the straightness control of the working face. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the first purpose of this application is to propose a coal mine working face straightness measurement system based on a pneumatic robot to achieve real-time monitoring of the working face and solve the problems of real-time, inability to detect within a certain range, and multiple error sources in related technologies.

[0007] The second purpose of the present application is to propose a method for measuring the straightness of a coal mine working surface based on a pneumatic robot.

[0008] To achieve the above-mentioned purpose, the first embodiment of the present application proposes a coal mine working face straightness measurement system based on a pneumatic robot, including a pneumatic robot, an inertial navigation system, a flexible pipeline, a hoisting device, a control system and a data processing device.

[0009] When performing straightness measurement, the pneumatic robot is equipped with the inertial navigation system, and the pneumatic robot runs in the flexible pipe using the flexible pipe as a running track, and the free end of the winding of the winch is connected to the pneumatic robot or the inertial navigation system; the control system is used to control the operation of the pneumatic robot and the winch, and the data processing device is used to collect measurement data from the inertial navigation system, and calculate the straightening parameters of the hydraulic support based on the measurement data; wherein, the flexible pipe is installed on the outside of the fender of the scraper conveyor, and the measurement data is the position information data of the scraper conveyor.

[0010] In some implementations, the straightening parameters include a straightening reference point and the extension and retraction amount of each hydraulic support pushing device.

[0011] In some implementations, the control system includes a robot controller and a winch controller, the robot controller is used to monitor and control the motion state of the pneumatic robot in the flexible pipe, so as to control the pneumatic robot to move forward when the pneumatic robot moves forward; and control the pneumatic robot to stop running when the pneumatic robot needs to retract;

[0012] The winch device controller is used to control the working mode of the winch device, and the working mode includes a first working mode and a second working mode. The first working mode is to control the cable reel of the winch device to freely release the wire when the pneumatic robot moves forward, and the second working mode is to control the cable reel to reel in and pull back the pneumatic robot when the pneumatic robot needs to retreat.

[0013] In some implementations, the pneumatic robot is equipped with a pneumatic motor prime mover, and the pneumatic motor prime mover provides driving force for each set of walking wheels of the pneumatic robot.

[0014] In some implementations, the pneumatic robot is supported on the inner wall of the flexible pipe by its expansion mechanism.

[0015] In some implementations, the housings of the pneumatic robot and the inertial navigation system are both cylindrical housings.

[0016] In some implementations, the flexible pipe is a coal mine explosion-proof polyvinyl chloride hose, and the flexible pipe is formed by splicing multiple pipe sections.

[0017] In some implementations, the system is a coal mine working face straightness measurement system based on a pneumatic robot and also includes an air source, the hoisting device is a pneumatic hoisting device, the air source supplies air to the pneumatic robot and the pneumatic hoisting device, and the air source is a working face compressed air system.

[0018] In some implementations, the pneumatic robot-based coal mine working face straightness measurement system also includes two proximity switches, which are connected to the control system and are used to collect proximity signals between the pneumatic robot and a collection starting point and a collection terminal, respectively.

[0019] To achieve the above-mentioned purpose, the second embodiment of the present application proposes a method for measuring the straightness of a coal mine working surface based on a pneumatic robot. The method is implemented by the coal mine working surface straightness measurement system based on a pneumatic robot described in the first aspect. The method comprises:

[0020] The pneumatic robot is controlled by a control system to run from the coal mining end point to the coal mining start point in the flexible pipeline using the flexible pipeline as a running track; wherein the flexible pipeline is installed on the outside of the fender of the scraper conveyor;

[0021] After detecting that the pneumatic robot reaches the coal mining starting point, controlling the pneumatic robot to stop running through a control system;

[0022] The control system is used to control the cable drum of the winch device to reel in the cable and pull back the pneumatic robot; the data processing device is used to collect the measurement data of the inertial navigation system, and the straightening parameters of the hydraulic support are calculated based on the measurement data.

[0023] The present application provides a coal mine working face straightness measurement system and method based on a pneumatic robot, in which a flexible pipe is installed on a scraper conveyor fender as a running track, and a pneumatic robot equipped with an inertial navigation system reciprocates in the flexible pipe, thereby realizing real-time monitoring of the working face, obtaining the position information of the scraper conveyor in real time, and calculating the straightening parameters of the hydraulic support, thereby guiding the extension and retraction amount of the hydraulic support pushing device, and realizing real-time control of the straightness of the coal mining equipment; and since the flexible pipe can be installed on the scraper conveyor, the error source of the coal mine working face straightness measurement is reduced, the measurement accuracy is improved, and there is no measurement blind spot.

[0024] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0026] Figure 1 A schematic diagram of the structure of a coal mine working surface straightness measurement system based on a pneumatic robot provided in an embodiment of the present application;

[0027] Figure 2 A schematic flow chart of a method for measuring the straightness of a coal mine working surface based on a pneumatic robot provided in an embodiment of the present application.

[0028] In the figure:

[0029] 100-pneumatic robot, 110-inertial navigation system, 120-flexible pipe, 130-pneumatic winch, 140-air source, 150-control system, 160-data processing device. DETAILED DESCRIPTION

[0030] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0031] The following describes a coal mine working surface straightness measurement system and method based on a pneumatic robot according to an embodiment of the present application with reference to the accompanying drawings.

[0032] Figure 1 The present invention provides a schematic diagram of a pneumatic robot-based coal mine working face straightness measurement system, comprising a pneumatic robot 100, an inertial navigation system 110, a flexible pipe 120, a hoisting device 130, a control system 150 and a data processing device 160.

[0033] When performing straightness measurement, the pneumatic robot 100 is equipped with an inertial navigation system 110. The pneumatic robot 100 runs in the flexible pipe 120 using the flexible pipe 120 as a running track, and the free end of the winding of the winch 130 is connected to the pneumatic robot 100 and the inertial navigation system 110; the control system 150 is used to control the operation of the pneumatic robot 100 and the winch 130, and the data processing device 160 is used to collect measurement data from the inertial navigation system 110, and calculate the straightening parameters of the hydraulic support based on the measurement data; wherein, the flexible pipe 120 is installed on the outside of the fender of the scraper conveyor, the inertial navigation system 110 is used to realize the detection of the position of the scraper conveyor on the working surface, and the measurement data is the position information data of the scraper conveyor.

[0034] In this embodiment, the straightening parameters include the straightening reference point and the extension and contraction amount of each hydraulic support pushing device, so as to control the straightness of the working surface by controlling the extension and contraction amount of each hydraulic support pushing device.

[0035] Exemplarily, the data processing device 160 is a host computer of the data processing software of the inertial navigation system 110, which is used to process the original straightness measurement data and provide straightening parameters.

[0036] As an implementation method, a method for a data processing device to obtain straightening parameters includes: obtaining a straightening reference point based on a coal mining start point and a coal mining end point; obtaining a straightness measurement result based on the yaw angle and position data collected by the inertial navigation system; obtaining a travel distance based on the position information obtained by the inertial navigation system; obtaining a hydraulic support frame number based on the travel distance and the center distance of the hydraulic support; obtaining an ideal straightness through linear regression calculation based on the straightness measurement result and the straightening reference point; respectively calculating the difference between the actual straightness corresponding to the straightness measurement result and the ideal straightness, and obtaining the extension and retraction amount of the hydraulic support push cylinder based on the difference.

[0037] Thus, the pneumatic robot 100 can be controlled by the control system 150 to use the flexible pipe 120 as the running track to move forward from the coal mining end point (corresponding to the pipe starting point of the flexible pipe 120) to the coal mining starting point (corresponding to the pipe ending point of the flexible pipe 120) in the flexible pipe 120; wherein the flexible pipe 120 is installed on the outer side of the fender of the scraper conveyor; after detecting that the pneumatic robot 100 reaches the coal mining starting point, the pneumatic robot 100 is controlled to stop running by the control system 150; the control system 150 controls the winding reel of the hoisting device 130 to retract the pneumatic robot 100; thereby, the reciprocating motion of the inertial navigation system 110 in the flexible pipe 120 is realized by the pneumatic robot 100 and the hoisting device 130. During the reciprocating motion, the measurement data of the inertial navigation system 110 is collected by the data processing device 160, and the straightening parameters are calculated based on the measurement data, so as to realize the straightness measurement of the scraper conveyor and the straightness adjustment of the corresponding hydraulic support push cylinder according to the measurement results.

[0038] That is to say, the winch device 130 does not work when the pneumatic robot 100 moves forward, and the cable reel lets out the wire freely; when the pneumatic robot 100 reaches the end of the flexible pipe 120, the pneumatic robot 100 stops working, the cable reel reels the wire and pulls back the pneumatic robot 100 and the inertial navigation system 110, and the straightness measurement is performed at this time. In this way, the pneumatic robot 100 and the inertial navigation system 110 are only affected by the winch device 130 when being pulled back, and the operation is more stable, thereby ensuring the accuracy of the straightness measurement.

[0039] The pneumatic robot-based coal mine working face straightness measurement system of the embodiment of the present application uses a flexible pipe as a running track installed on a scraper conveyor. The pneumatic robot equipped with an inertial navigation system reciprocates in the flexible pipe, which can realize real-time monitoring of the working face, obtain the position information of the scraper conveyor in real time, calculate the straightening parameters of the hydraulic support, guide the extension and contraction amount of the hydraulic support push device, and realize real-time control of the straightness of the working face; and because the flexible pipe can be installed on the scraper conveyor, the error source of the straightness measurement of the coal mine working face is reduced, the measurement accuracy is improved, and there is no measurement blind spot. Thereby realizing intelligent and efficient mining of the working face and promoting the development of intelligent research on coal mine working faces.

[0040] In some embodiments, the control system 150 includes a robot controller and a winch 130 controller, and the robot controller is used to monitor and control the movement state of the pneumatic robot 100 in the flexible pipe 120, so as to control the pneumatic robot 100 to move forward when the pneumatic robot 100 moves forward; and control the pneumatic robot 100 to stop running when the pneumatic robot 100 needs to retreat.

[0041] It should be noted that the robot controller is used for the motion state of the pneumatic robot 100, including but not limited to forward, backward, stop and other operating states. It has a preliminary fault diagnosis function and can realize local control and remote control. The control mode is divided into manual control and automatic control, which can realize free switching during the movement process.

[0042] The controller of the hoisting device 130 is used to control the working mode of the hoisting device 130. The controller of the hoisting device 130 is used to control the winding and releasing modes of the hoisting device 130, that is, the working modes include a first working mode and a second working mode. The first working mode is to control the cable reel of the hoisting device 130 to freely release the cable when the pneumatic robot 100 moves forward, and the second working mode is to control the cable reel to wind up and pull back the pneumatic robot 100 when the pneumatic robot 100 needs to retreat.

[0043] Thus, the control system 150 controls the pneumatic robot 100 and the hoisting device through the robot controller and the hoisting device 130 controller respectively, so as to realize the reciprocating operation of the pneumatic robot 100 .

[0044] In some embodiments, the pneumatic robot 100 is equipped with a pneumatic motor prime mover, which provides driving force for each set of running wheels of the pneumatic robot 100. The pneumatic robot 100 is supported on the inner wall of the flexible pipe 120 through its expansion mechanism.

[0045] Therefore, by equipping with a high-efficiency pneumatic motor prime mover, multiple sets of walking wheels are driven to push the pneumatic robot 100 to walk inside the flexible pipe 120. Each set of walking wheels can provide driving force to ensure that the pneumatic robot 100 has sufficient traction in the pipe; in the flexible pipe 120, it is supported on the inner wall of the pipe through its own expansion mechanism and can adapt to changes in the diameter of the flexible pipe 120.

[0046] In some embodiments, the outer shell of the pneumatic robot 100 is a cylindrical outer shell to adapt to the diameter of the flexible pipe 120 .

[0047] In some embodiments, the outer shell of the inertial navigation system 110 is cylindrical, which can match the size of the flexible pipe 120 and the connection structure of the pneumatic robot 100 at the same time.

[0048] In some embodiments, the inertial navigation system 110 is composed of an inertial navigation system (INS), an encoder and an auxiliary function module. The auxiliary function module includes a coupling. The inertial navigation system couples the encoder output shaft and the robot drive wheel through the coupling. The inertial navigation system and the pneumatic robot only maintain a mechanical connection, which reduces the system complexity and improves the stability and reliability of the equipment.

[0049] It should be noted that the inertial navigation system uses fiber-optic strapdown inertial navigation, which is mainly used to measure pitch angle, yaw angle and roll angle. The encoder is used to measure the forward distance of the sensor of the inertial navigation system. The combination of the inertial navigation system and the encoder can achieve fusion positioning, solve the problem of secondary integration error of the inertial navigation, and realize the accurate collection of the robot's walking depth, thus overcoming the influence of the complex geomagnetic environment in underground tunnels and strata in coal mines on the accuracy and stability of the measurement results.

[0050] For example, the inertial navigation system 110 collects a set of data such as inclination, azimuth and depth every 2 seconds. The data volume is large, the trajectory curve is more accurate and smooth, and no post-processing is required; data upload is achieved through the WiFi / 4G wireless communication module. In some embodiments, the flexible pipe 120 is a coal mine explosion-proof polyvinyl chloride hose, and the flexible pipe 120 is spliced ​​by multiple pipe sections.

[0051] When in use, the flexible pipe 120 is installed at the cable hook outside the fender of the scraper conveyor. By splicing and installing multiple sections of pipes, the entire comprehensive mining working face is covered and can adapt to the length requirements of any working face. The flexible pipe 120 can deform synchronously with the scraper conveyor.

[0052] In some embodiments, the coal mine working face straightness measurement system based on the pneumatic robot also includes an air source, the hoisting device 130 is a pneumatic hoisting device, and the air source supplies air to the pneumatic robot 100 and the hoisting device.

[0053] In this embodiment, air is supplied to all pneumatic devices through the air source 140, and the air source 140 may be a working surface compressed air system.

[0054] In some embodiments, the hoisting device 130 further includes components such as an electric ball valve and a pressure transmitter, and the electric ball valve is used to control the air supply and air cut-off of the air source to the hoisting device 130 .

[0055] In some embodiments, the coal mine working face straightness measurement system based on a pneumatic robot also includes two proximity switches, which are connected to the control system 150. The two proximity switches are respectively used to collect proximity signals between the pneumatic robot 100 and the collection starting point and the collection terminal. The proximity signals are transmitted to the control system 150, so that the control system 150 controls the operation of the pneumatic robot 100 and the winch 130.

[0056] On the basis of any of the above embodiments, the present application embodiment also provides a method for measuring the straightness of a coal mine working surface based on a pneumatic robot, such as Figure 2 As shown, the method includes the following contents:

[0057] Step 101, controlling the pneumatic robot through a control system to run from the coal mining end point to the coal mining start point in the flexible pipeline using the flexible pipeline as a running track; wherein the flexible pipeline is installed in the cable trough of the fender of the scraper conveyor.

[0058] Step 102, after detecting that the pneumatic robot reaches the coal mining starting point, the pneumatic robot is controlled to stop running through the control system.

[0059] Step 103, controlling the wire reel of the winch device to reel in the wire and pull back the pneumatic robot through the control system; collecting the measurement data of the inertial navigation system through the data processing device, and calculating the straightening parameters of the hydraulic support based on the measurement data.

[0060] It should be noted that the aforementioned explanation of the embodiment of the coal mine working face straightness measurement system based on a pneumatic robot is also applicable to the coal mine working face straightness measurement method based on a pneumatic robot in this embodiment, which will not be repeated here.

[0061] The method for measuring the straightness of a coal mine working face based on a pneumatic robot in an embodiment of the present application uses a flexible pipe as a running track installed on a scraper conveyor. The pneumatic robot equipped with an inertial navigation system reciprocates in the flexible pipe, thereby realizing real-time monitoring of the working face, obtaining the position information of the scraper conveyor in real time, and calculating the straightening parameters of the hydraulic support, thereby guiding the extension and retraction amount of the hydraulic support pushing device, and realizing real-time control of the straightness of the coal mining equipment. Furthermore, since the flexible pipe can be installed on the scraper conveyor, the error source of the straightness measurement of the coal mine working face is reduced, the measurement accuracy is improved, and there is no measurement blind spot.

[0062] The collection, storage, use, processing, transmission, provision and disclosure of user personal information involved in this application are in compliance with relevant laws and regulations and do not violate public order and good morals.

[0063] It should be noted that personal information from users should be collected for legitimate and reasonable purposes and should not be shared or sold outside of these legitimate uses. In addition, such collection / sharing should be carried out after receiving the user's informed consent, including but not limited to notifying the user to read the user agreement / user notice and sign the agreement / authorization including authorization of relevant user information before the user uses the function. In addition, any necessary steps should be taken to protect and safeguard access to such personal information data and ensure that others who have access to personal information data comply with its privacy policy and procedures.

[0064] The present application is expected to provide an implementation scheme for users to selectively block the use or access of personal information data. That is, the present disclosure is expected to provide hardware and / or software to prevent or block access to such personal information data. Once the personal information data is no longer needed, the risk can be minimized by limiting data collection and deleting the data. In addition, when applicable, such personal information is de-identified to protect the privacy of the user.

[0065] In the description of the aforementioned embodiments, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0066] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0067] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present application includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present application belong.

[0068] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0069] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A coal mine working face straightness measurement system based on a pneumatic robot, characterized in that: Including pneumatic robots, inertial navigation systems, flexible pipes, winches, control systems and data processing devices, When performing straightness measurement, the pneumatic robot is equipped with the inertial navigation system, and the pneumatic robot runs in the flexible pipe using the flexible pipe as a running track, and the free end of the winding of the winch is connected to the pneumatic robot or the inertial navigation system; the control system is used to control the operation of the pneumatic robot and the winch, and the data processing device is used to collect measurement data from the inertial navigation system, and calculate the straightening parameters of the hydraulic support based on the measurement data; wherein, the flexible pipe is installed on the outside of the fender of the scraper conveyor, and the measurement data is the position information data of the scraper conveyor.

2. The coal mine working surface straightness measurement system based on pneumatic robot according to claim 1 is characterized in that: The straightening parameters include the straightening reference point and the extension and contraction amount of each hydraulic support pushing device.

3. The coal mine working face straightness measurement system based on pneumatic robot according to claim 2, characterized in that: The method for the data processing device to obtain the straightening parameters comprises: Based on the coal mining starting point and coal mining end point, a straightening reference point is obtained; Obtaining a straightness measurement result based on the yaw angle and position data collected by the inertial navigation system; According to the position information obtained by the inertial navigation system, the travel distance is obtained; and according to the travel distance and the center distance of the hydraulic support, the hydraulic support frame number is obtained; Based on the straightness measurement results and the straightening reference points, the ideal straightness is calculated through linear regression; The gap between the actual straightness corresponding to the straightness measurement result and the ideal straightness is calculated respectively, and the extension and contraction amount of the hydraulic support push cylinder is obtained according to the gap.

4. The coal mine working face straightness measurement system based on pneumatic robot according to claim 1 is characterized in that: The control system includes a robot controller and a hoisting device controller, wherein the robot controller is used to monitor and control the motion state of the pneumatic robot in the flexible pipe, so as to control the pneumatic robot to move forward when the pneumatic robot moves forward, and to control the pneumatic robot to stop running when the pneumatic robot needs to retreat; The winch device controller is used to control the working mode of the winch device, and the working mode includes a first working mode and a second working mode. The first working mode is to control the cable reel of the winch device to freely release the wire when the pneumatic robot moves forward, and the second working mode is to control the cable reel to reel in and pull back the pneumatic robot when the pneumatic robot needs to retreat.

5. The coal mine working face straightness measurement system based on pneumatic robot according to claim 1, characterized in that: The pneumatic robot is equipped with a pneumatic motor prime mover, which provides driving force for each set of walking wheels of the pneumatic robot. The pneumatic robot is supported on the inner wall of the flexible pipe through its expansion mechanism.

6. The coal mine working face straightness measurement system based on pneumatic robot according to claim 1, characterized in that: The shells of the pneumatic robot and the inertial navigation system are both cylindrical shells.

7. The coal mine working face straightness measurement system based on pneumatic robot according to claim 1, characterized in that: The flexible pipeline is a coal mine explosion-proof polyvinyl chloride hose, and the flexible pipeline is formed by splicing multiple sections of pipelines.

8. The coal mine working face straightness measurement system based on pneumatic robot according to claim 1, characterized in that: The system is a coal mine working face straightness measurement system based on a pneumatic robot and also includes an air source. The hoisting device is a pneumatic hoisting device. The air source supplies air to the pneumatic robot and the pneumatic hoisting device, and the air source is a working face compressed air system.

9. The coal mine working face straightness measurement system based on pneumatic robot according to claim 1, characterized in that: The pneumatic robot-based coal mine working surface straightness measurement system also includes two proximity switches, which are connected to the control system and are used to collect proximity signals between the pneumatic robot and a collection starting point and a collection terminal, respectively.

10. A method for measuring the straightness of a coal mine working surface based on a pneumatic robot, characterized in that: The method is implemented by using a coal mine working surface straightness measurement system based on a pneumatic robot as described in any one of claims 1 to 9, and the method comprises: The pneumatic robot is controlled by a control system to run from the coal mining end point to the coal mining start point in the flexible pipeline using the flexible pipeline as a running track; wherein the flexible pipeline is installed on the outside of the fender of the scraper conveyor; After detecting that the pneumatic robot reaches the coal mining starting point, controlling the pneumatic robot to stop running through a control system; The control system is used to control the cable drum of the winch device to reel in the cable and pull back the pneumatic robot; the data processing device is used to collect the measurement data of the inertial navigation system, and the straightening parameters of the hydraulic support are calculated based on the measurement data.

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