Working face straightness detection method and device, electronic equipment and storage medium

Abstract

The invention provides a working face straightness detection method and device, electronic equipment and a storage medium, and the method comprises the steps: controlling a pneumatic robot to move in a soft track erected on a scraper conveyor, enabling the pneumatic robot to carry an inertial navigation system, and then controlling the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period, and according to the plurality of coordinate data, determining the motion trail data of the pneumatic robot, and taking the motion trail data as the target straightness data of the working face, so that the straightness of the working face can be automatically detected based on the pneumatic robot, and the detection accuracy of the straightness of the working face is ensured. The real-time performance of working face straightness detection can be improved.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent control of fully mechanized mining working faces, and in particular to a working face straightness detection method, device, electronic equipment and storage medium. Background Art

[0002] The straightness of the working face is an important parameter for comprehensive mining operation, and automatic straightening is an important function of intelligent mining, and its premise is straightness measurement. At present, the main means of working face straightness detection are manual measurement, i.e. visual wire straightness detection, laser matrix positioning measurement, optical fiber measurement, and inertial navigation and odometer combined positioning measurement method. Among them, the inertial navigation measurement method is a good method for scraper conveyor straightness detection, and its application range is also wide. However, the existing inertial navigation system is installed on the coal mining machine to indirectly measure the straightness of the scraper conveyor. Such installation will cause the relative position of the coal mining machine to change during the operation of the scraper conveyor, which will generate an error source. In addition, this measurement method cannot detect the straightness of a certain range of the head / tail of the coal mining machine and can only achieve "one-knife detection, one-knife measurement", the startup time is also long, the automaticity and real-time performance are poor, and the connection of different detection tracks cannot be achieved, and the continuity of straightness detection is poor. Summary of the invention

[0003] The present disclosure aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the purpose of the present invention is to propose a working surface straightness detection method, device, electronic device and storage medium, thereby enabling the working surface straightness to be automatically detected based on a pneumatic robot, thereby ensuring the accuracy of the working surface straightness detection and improving the real-time performance of the working surface straightness detection.

[0005] The working surface straightness detection method proposed in the first aspect of the present disclosure includes:

[0006] Control the pneumatic robot to move in the soft track set up on the scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system;

[0007] Controlling the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period;

[0008] Determine the motion trajectory data of the pneumatic robot according to the plurality of coordinate data;

[0009] The motion trajectory data is used as the target straightness data of the working surface.

[0010] The working surface straightness detection device provided in the second aspect of the present disclosure includes:

[0011] A first control module is used to control the pneumatic robot to move in a soft track set up on the scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system;

[0012] A second control module is used to control the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period;

[0013] A determination module, used for determining the motion trajectory data of the pneumatic robot according to a plurality of coordinate data;

[0014] The processing module is used to use the motion trajectory data as the target straightness data of the working surface.

[0015] The electronic device proposed in the third aspect embodiment of the present disclosure includes: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the working surface straightness detection method proposed in the first aspect embodiment of the present disclosure is implemented.

[0016] The fourth aspect embodiment of the present disclosure proposes a non-temporary computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the working surface straightness detection method proposed in the first aspect embodiment of the present disclosure is implemented.

[0017] The fifth aspect embodiment of the present disclosure proposes a computer program product. When the instructions in the computer program product are executed by a processor, the working surface straightness detection method proposed in the first aspect embodiment of the present disclosure is executed.

[0018] The working surface straightness detection method, device, electronic device and storage medium provided by the present invention have at least the following beneficial effects: controlling a pneumatic robot to move in a soft track set up on a scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system, and then controlling the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period, determining the motion trajectory data of the pneumatic robot based on multiple coordinate data, and then using the motion trajectory data as the target straightness data of the working surface, thereby being able to automatically detect the straightness of the working surface based on the pneumatic robot, and while ensuring the accuracy of the working surface straightness detection, being able to improve the real-time performance of the working surface straightness detection.

[0019] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will be obvious from the following description or learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0021] Figure 1It is a flow chart of a working surface straightness detection method proposed in one embodiment of the present disclosure;

[0022] Figure 2A is a schematic diagram of a coal mine working scene proposed in an embodiment of the present disclosure;

[0023] Figure 2B is a functional schematic diagram of a straightness detection robot control software proposed in an embodiment of the present disclosure;

[0024] Figure 3 is a flow chart of a working surface straightness detection method proposed in another embodiment of the present disclosure;

[0025] Figure 4 is a structural schematic diagram of a working surface straightness detection device proposed in an embodiment of the present disclosure;

[0026] Figure 5 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0027] Embodiments of the present disclosure 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 only used to explain the present disclosure, and are not to be construed as limitations of the present disclosure. On the contrary, the embodiments of the present disclosure include all changes, modifications, and equivalents that fall within the spirit and connotation of the appended claims.

[0028] Figure 1 It is a flow chart of a working surface straightness detection method proposed in one embodiment of the present disclosure.

[0029] Among them, it should be noted that the executor of the working surface straightness detection method of this embodiment is a working surface straightness detection device, which can be implemented by software and / or hardware. The device can be configured in an electronic device, and the electronic device can include but is not limited to a terminal, a server, etc. For example, the terminal can be a mobile phone, a handheld computer, etc.

[0030] like Figure 1 As shown, the working surface straightness detection method comprises:

[0031] S101: Controlling a pneumatic robot to move in a soft track installed on a scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system.

[0032] Among them, the pneumatic robot is a robot that moves based on the principles of aerodynamics. It achieves movement and control through a pneumatic system. Of course, the pneumatic robot can also be configured as any other type of robot, such as a wheeled robot, a legged robot, etc., without any restriction.

[0033] In the embodiments of the present disclosure, see Figure 2A , Figure 2A is a schematic diagram of a coal mine working scene proposed in an embodiment of the present disclosure, see Figure 2A The working surface (1) is adjacent to the scraper conveyor (2), the scraper conveyor is connected to a hydraulic support (3), and the pushing device of the hydraulic support is used to control the extension and retraction of the hydraulic support.

[0034] In the disclosed embodiment, a soft track may be laid close to the scraper conveyor, and each part of the soft track may be in contact with the scraper conveyor.

[0035] In the disclosed embodiment, the pneumatic robot is equipped with an inertial navigation system, which can collect coordinate data of the pneumatic robot in real time during the movement of the pneumatic robot.

[0036] That is to say, in the embodiments of the present disclosure, see Figure 2B , Figure 2B This is a functional schematic diagram of the straightness detection robot control software proposed in one embodiment of the present disclosure, that is, based on the straightness detection robot control software, the automatic detection control function of the pneumatic robot and the analysis, processing and storage function of the straightness data can be realized. Thereby, unified control of each subsystem can be realized, including the start and stop of the pneumatic robot, automatic / manual control switching, resetting of the pneumatic robot, power on / off of the inertial navigation system, etc., without limitation.

[0037] Optionally, in some embodiments, before controlling the pneumatic robot to move in the soft track set up on the scraper conveyor, the inertial navigation system can be powered on and self-seeking when the pneumatic robot is at the starting position of the soft track, and the inertial navigation system can be corrected at zero speed when the coal mining machine completes the oblique cutting.

[0038] The starting position is any end of the working surface.

[0039] Among them, the zero-speed correction technology of the inertial navigation system is an effective error compensation technology, which aims to control the error accumulation of the inertial navigation system during long-term operation and improve the system accuracy.

[0040] That is to say, in the disclosed embodiment, in a complete working surface straightness detection process, the position of the pneumatic robot is first reset to return to the starting point, and then the pneumatic robot is turned off and the inertial navigation system is powered on to complete the self-seeking of the inertial navigation system. Next, the inertial navigation system performs the initial zero-speed calibration after the coal mining machine completes the oblique cutting. After the initial zero-speed calibration is completed, the pneumatic winch device pulls the pneumatic robot to move at a uniform speed.

[0041] Optionally, in some embodiments, during the movement of the pneumatic robot in the soft track set up on the scraper conveyor, the movement distance of the pneumatic robot is determined, and when the movement distance reaches a preset distance, the inertial navigation system is subjected to zero-speed correction.

[0042] The preset distance can be combined with the working surface straightness detection requirements in actual business scenarios and set adaptively without any restrictions.

[0043] In the disclosed embodiment, during the process of the pneumatic robot moving towards the end point, a zero-speed correction is performed every preset distance until the pneumatic robot reaches the end point. After the pneumatic robot reaches the end point, the pneumatic winch device stops rewinding and is set to the line-releasing mode, and then the pneumatic robot is started and controlled to return to the starting point, thereby completing a detection task.

[0044] S102: Control the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period.

[0045] Among them, the preset time period can be combined with the working surface straightness detection needs in actual business scenarios and adaptively set without any restrictions.

[0046] That is to say, in the embodiment of the present disclosure, the pneumatic robot can be controlled to move in the soft track set up on the scraper conveyor, and the position coordinate data of the pneumatic robot can be collected regularly based on the inertial navigation system.

[0047] S103: Determine the motion trajectory data of the pneumatic robot according to the plurality of coordinate data.

[0048] In the disclosed embodiment, after controlling the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period, multiple coordinate data can be displayed in a curve on the straightness detection robot control software according to the collection time of each coordinate data to determine the motion trajectory data of the pneumatic robot.

[0049] S104: Using the motion trajectory data as target straightness data of the working surface.

[0050] Among them, see the above Figure 2ASince the scraper conveyor and the working surface are close to each other, it can be considered that the straightness data of the scraper conveyor is the same as the straightness data of the working surface.

[0051] In the disclosed embodiment, after the motion trajectory data of the pneumatic robot is determined according to a plurality of coordinate data, the motion trajectory data may be used as target straightness data of the working surface.

[0052] In the disclosed embodiment, a pneumatic robot is controlled to move in a soft track set up on a scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system. The inertial navigation system is controlled to collect coordinate data of the pneumatic robot based on a preset time period, and the motion trajectory data of the pneumatic robot is determined based on a plurality of coordinate data. The motion trajectory data is then used as the target straightness data of the working surface. Thus, the straightness of the working surface can be automatically detected based on the pneumatic robot. While ensuring the accuracy of the straightness detection of the working surface, the real-time performance of the straightness detection of the working surface can be improved.

[0053] Figure 3 It is a flow chart of a working surface straightness detection method proposed in one embodiment of the present disclosure.

[0054] Among them, it should be noted that the executor of the working surface straightness detection method of this embodiment is a working surface straightness detection device, which can be implemented by software and / or hardware. The device can be configured in an electronic device, and the electronic device can include but is not limited to a terminal, a server, etc. For example, the terminal can be a mobile phone, a handheld computer, etc.

[0055] like Figure 3 As shown, the working surface straightness detection method comprises:

[0056] S301: Control the pneumatic robot to move in the soft track set up on the scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system.

[0057] S302: Control the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period.

[0058] S303: Determine the motion trajectory data of the pneumatic robot according to the plurality of coordinate data.

[0059] S304: Using the motion trajectory data as target straightness data of the working surface.

[0060] The specific description of S301 - S304 can be found in the above embodiments, which will not be repeated here.

[0061] S305: Determine straightening parameters according to the target straightness data, wherein the straightening parameters are used to perform straightness correction on the working surface.

[0062] The straightening parameter is used to correct the straightness of the working surface. The straightening parameter may be, for example, a distance that the working surface needs to be adjusted in a certain direction, and there is no limitation to this.

[0063] Optionally, in some embodiments, the straightening parameters are determined based on the target straightness data, which may be by obtaining reference straightness data corresponding to the working surface, and then determining the straightening parameters based on a comparison result between the reference straightness data and the target straightness data.

[0064] The reference straightness data corresponding to the working surface may be, for example, the straightness data of the working surface when the working surface is in a reference state, and there is no limitation to this.

[0065] That is to say, in the embodiment of the present disclosure, the reference straightness data and the target straightness data of the working surface may be compared to obtain a corresponding comparison result, and the comparison result may be used as a modulation parameter.

[0066] For example, the reference straightness data indicates that the distance between point a on the working surface and a certain reference horizontal plane is 5m, while the target straightness data indicates that the distance between point a on the working surface and a certain reference horizontal plane is 6m. Therefore, the straightening parameter corresponding to point a can be determined as: 6-5=1m, without any restriction.

[0067] S306: Determine the adjustment and extension amounts of the plurality of hydraulic support pushing devices connected to the scraper conveyor according to the straightening parameters.

[0068] Among them, adjusting the telescopic amount refers to the distance that the hydraulic support pushing device needs to be extended or shortened based on the existing telescopic state.

[0069] In the disclosed embodiment, after the straightening parameters are determined according to the target straightness data, the straightening parameters can be directly used as the adjustment extension amounts of the multiple hydraulic support pushing devices connected to the scraper conveyor.

[0070] Referring to the above example, after determining that the straightening parameter corresponding to point a is: 6-5=1m, it can be determined that the adjustment and extension amount of multiple hydraulic support pushing devices connected to the scraper conveyor is 1m, and there is no restriction on this.

[0071] S307: Control the hydraulic support to adjust the corresponding hydraulic support pushing device based on the adjusted telescopic amount.

[0072] In the disclosed embodiment, after determining the adjustment extension amount of multiple hydraulic support pushing devices connected to the scraper conveyor according to the straightening parameters, the hydraulic support can be controlled to adjust the corresponding hydraulic support pushing devices based on the adjustment extension amount.

[0073] In the disclosed embodiment, the adjustment direction of the hydraulic support pushing device can be determined according to the positive and negative adjustment telescopic amount, and then the hydraulic support is controlled to adjust the corresponding hydraulic support pushing device based on the adjusted telescopic amount, thereby achieving the straightness correction of the working surface.

[0074] In the disclosed embodiment, a pneumatic robot is controlled to move in a soft track set up on a scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system, and then the inertial navigation system is controlled to collect coordinate data of the pneumatic robot based on a preset time period, and the motion trajectory data of the pneumatic robot is determined based on multiple coordinate data, and then the motion trajectory data is used as the target straightness data of the working surface, thereby, the straightness of the working surface can be automatically detected based on the pneumatic robot, while ensuring the accuracy of the straightness detection of the working surface, the real-time performance of the straightness detection of the working surface can be improved, and then the straightening parameters are determined based on the target straightness data, wherein the straightening parameters are used to correct the straightness of the working surface, and according to the straightening parameters, the adjustment and extension amounts of multiple hydraulic support pushing devices connected to the scraper conveyor are determined, and the hydraulic support is controlled to adjust the corresponding hydraulic support pushing device based on the adjustment and extension amounts, thereby, the straightness correction of the working surface can be achieved.

[0075] Figure 4 It is a structural schematic diagram of a working surface straightness detection device proposed in one embodiment of the present disclosure.

[0076] like Figure 4 As shown, the working surface straightness detection device 40 comprises:

[0077] The first control module 401 is used to control the pneumatic robot to move in the soft track set up on the scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system;

[0078] A second control module 402, used to control the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period;

[0079] A determination module 403 is used to determine the motion trajectory data of the pneumatic robot according to the plurality of coordinate data;

[0080] The processing module 404 is used to use the motion trajectory data as target straightness data of the working surface.

[0081] In some embodiments of the present disclosure, the processing module 404 is further configured to:

[0082] After the motion trajectory data is used as the target straightness data of the working surface, a straightening parameter is determined according to the target straightness data, wherein the straightening parameter is used to perform straightness correction on the working surface;

[0083] According to the straightening parameters, the adjustment and extension amounts of the multiple hydraulic support push devices connected to the scraper conveyor are determined;

[0084] The hydraulic support is controlled to adjust the corresponding hydraulic support pushing device based on the adjusted telescopic amount.

[0085] In some embodiments of the present disclosure, the determination module 403 is further configured to:

[0086] Acquire reference straightness data corresponding to the working surface;

[0087] The straightening parameters are determined based on the comparison results between the reference straightness data and the target straightness data.

[0088] In some embodiments of the present disclosure, the first control module 401 is further configured to:

[0089] Before controlling the pneumatic robot to move in the soft track set up on the scraper conveyor, when the pneumatic robot is at the starting position of the soft track, control the inertial navigation system to power on and perform self-north search, wherein the starting position is any end of the working surface;

[0090] When the coal mining machine completes the oblique cutting, the inertial navigation system is corrected at zero speed.

[0091] In some embodiments of the present disclosure, the working surface straightness detection device 40 is further used for:

[0092] Determine the movement distance of the pneumatic robot during the movement of the pneumatic robot in the soft track set up on the scraper conveyor;

[0093] When the movement distance reaches the preset distance, the inertial navigation system is corrected to zero speed

[0094] It should be noted that the aforementioned explanation of the working surface straightness detection method is also applicable to the working surface straightness detection device of this embodiment, and will not be repeated here.

[0095] In the disclosed embodiment, a pneumatic robot is controlled to move in a soft track set up on a scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system. The inertial navigation system is controlled to collect coordinate data of the pneumatic robot based on a preset time period, and the motion trajectory data of the pneumatic robot is determined based on a plurality of coordinate data. The motion trajectory data is then used as the target straightness data of the working surface. Thus, the straightness of the working surface can be automatically detected based on the pneumatic robot. While ensuring the accuracy of the straightness detection of the working surface, the real-time performance of the straightness detection of the working surface can be improved.

[0096] Figure 5 A block diagram of an exemplary electronic device suitable for implementing embodiments of the present disclosure is shown. Figure 5 The electronic device 12 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present disclosure.

[0097] like Figure 5 As shown, the electronic device 12 is in the form of a general purpose computing device. The components of the electronic device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that connects various system components (including the system memory 28 and the processing unit 16).

[0098] The bus 18 represents one or more of several types of bus structures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor or a local bus using any of a variety of bus structures. For example, these architectures include but are not limited to Industry Standard Architecture (ISA) bus, Micro Channel Architecture (MAC) bus, Enhanced ISA bus, Video Electronics Standards Association (VESA) local bus and Peripheral Component Interconnection (PCI) bus.

[0099] The electronic device 12 typically includes a variety of computer system readable media. These media can be any available media that can be accessed by the electronic device 12, including volatile and non-volatile media, removable and non-removable media.

[0100] The memory 28 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 30 and / or cache memory 32. The electronic device 12 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, the storage system 34 may be used to read and write non-removable, non-volatile magnetic media ( Figure 5 Not shown, often called a "hard drive").

[0101] although Figure 5Not shown, a disk drive for reading and writing a removable non-volatile disk (e.g., a "floppy disk"), and an optical disk drive for reading and writing a removable non-volatile optical disk (e.g., a compact disc read only memory (Compact Disc Read Only Memory; hereinafter referred to as: CD-ROM), a digital versatile disc read only memory (Digital Video Disc Read Only Memory; hereinafter referred to as: DVD-ROM) or other optical media) may be provided. In these cases, each drive may be connected to the bus 18 via one or more data medium interfaces. The memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the various embodiments of the present disclosure.

[0102] A program / utility 40 having a set (at least one) of program modules 42 may be stored, for example, in the memory 28, such program modules 42 including but not limited to an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment. The program modules 42 generally perform the functions and / or methods of the embodiments described in the present disclosure.

[0103] The electronic device 12 may also communicate with one or more external devices 14 (e.g., keyboard, pointing device, display 24, etc.), may also communicate with one or more devices that enable the human body to interact with the electronic device 12, and / or communicate with any device that enables the electronic device 12 to communicate with one or more other computing devices (e.g., network card, modem, etc.). Such communication may be performed through an input / output (I / O) interface 22. In addition, the electronic device 12 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 20. As shown, the network adapter 20 communicates with other modules of the electronic device 12 through a bus 18. It should be understood that, although not shown in the figure, other hardware and / or software modules may be used in conjunction with the electronic device 12, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0104] The processing unit 16 executes various functional applications and data processing by running the programs stored in the system memory 28 , such as implementing the working surface straightness detection method mentioned in the above embodiment.

[0105] In order to implement the above embodiments, the present disclosure further proposes a non-temporary computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the working surface straightness detection method proposed in the above embodiments of the present disclosure is implemented.

[0106] In order to implement the above embodiments, the present disclosure further proposes a computer program product. When the instruction processor in the computer program product is executed, the working surface straightness detection method proposed in the above embodiments of the present disclosure is executed.

[0107] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0108] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0109] It should be noted that, in the description of the present disclosure, the terms "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. In addition, in the description of the present disclosure, unless otherwise specified, the meaning of "plurality" is two or more.

[0110] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for implementing the steps of a specific logical function or process, and the scope of the preferred embodiments of the present disclosure 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 those skilled in the art to which the embodiments of the present disclosure belong.

[0111] It should be understood that the various parts of the present disclosure can be implemented in hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0112] 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.

[0113] In addition, each functional unit in each embodiment of the present disclosure may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0114] The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk, etc.

[0115] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" 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 disclosure. In this specification, the schematic representation of the above terms does 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.

[0116] Although the embodiments of the present disclosure have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present disclosure. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present disclosure.

Claims

1. A method for detecting straightness of a working surface, characterized in that: The method comprises: Controlling a pneumatic robot to move in a soft track set up on a scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system; Controlling the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period; Determining motion trajectory data of the pneumatic robot according to the plurality of coordinate data; The motion trajectory data is used as target straightness data of the working surface.

2. The method according to claim 1, characterized in that After taking the motion trajectory data as the target straightness data of the working surface, the method further includes: Determining straightening parameters according to the target straightness data, wherein the straightening parameters are used to perform straightness correction on the working surface; According to the straightening parameters, determining the adjustment and extension amounts of the plurality of hydraulic support pushing devices connected to the scraper conveyor; The hydraulic support is controlled to adjust the corresponding hydraulic support pushing device based on the adjusted telescopic amount.

3. The method according to claim 2, characterized in that Determining the straightening parameters according to the target straightness data includes: Acquiring reference straightness data corresponding to the working surface; The straightening parameter is determined according to a comparison result between the reference straightness data and the target straightness data.

4. The method according to claim 1, characterized in that Before controlling the pneumatic robot to move in the soft track set up on the scraper conveyor, the method further includes: When the pneumatic robot is at the starting position of the soft track, controlling the inertial navigation system to power on and perform self-seeking, wherein the starting position is any end of the working surface; When the coal mining machine completes the oblique cutting, the inertial navigation system is subjected to zero-speed correction.

5. The method according to claim 4, characterized in that The method further comprises: Determining the movement distance of the pneumatic robot during the movement of the pneumatic robot in the soft track set up on the scraper conveyor; When the movement distance reaches a preset distance, a zero-speed correction process is performed on the inertial navigation system.

6. A working surface straightness detection device, characterized in that: The device comprises: A first control module is used to control the pneumatic robot to move in a soft track set up on the scraper conveyor, wherein the pneumatic robot is equipped with an inertial navigation system; A second control module, used for controlling the inertial navigation system to collect coordinate data of the pneumatic robot based on a preset time period; A determination module, used to determine the motion trajectory data of the pneumatic robot according to the plurality of coordinate data; A processing module is used to use the motion trajectory data as target straightness data of the working surface.

7. The device according to claim 6, characterized in that The processing module is also used to: After the motion trajectory data is used as the target straightness data of the working surface, a straightening parameter is determined according to the target straightness data, wherein the straightening parameter is used to perform straightness correction on the working surface; According to the straightening parameters, determining the adjustment and extension amounts of the plurality of hydraulic support pushing devices connected to the scraper conveyor; The hydraulic support is controlled to adjust the corresponding hydraulic support pushing device based on the adjusted telescopic amount.

8. The device according to claim 7, characterized in that The determining module is further used for: Acquiring reference straightness data corresponding to the working surface; The straightening parameter is determined according to a comparison result between the reference straightness data and the target straightness data.

9. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

10. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: in, The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 5.

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