Straightening control method and system for hydraulic support

Abstract

The invention provides an alignment control method and system for a hydraulic support. The method comprises the steps that a three-dimensional geologic model of a coal seam and floor rock stratum interface of a working face in the advancing direction is obtained; a first pushing stroke value of the hydraulic support pushing rod for pulling the hydraulic support and a second pushing stroke value of the hydraulic support pushing rod for pushing the scraper conveyor are obtained; acquiring a laser point cloud data model; determining a first spatial position curve and a second spatial position curve based on the laser point cloud data model and the three-dimensional geologic model; determining a third pushing stroke value according to the position points on the first spatial position curve, and determining a fourth pushing stroke value according to the position points on the second spatial position curve; and according to the first pushing stroke value, the third pushing stroke value, the second pushing stroke value and the fourth pushing stroke value, straightening control is conducted on the hydraulic support. Therefore, monitoring and automatic straightening control on the straightness of the coal face can be realized, and the intelligent level of the coal face is promoted to be improved.

Description

Technical Field

[0001] This application relates to the technical field of intelligent coal mining, and particularly to a straightening control method and system for hydraulic supports. Background Art

[0002] The intelligent mining of the coal mining face is one of the core technical scenarios in the construction of intelligent coal mines, which requires that the hydraulic supports in the working face should maintain good straightness. Due to the continuous change of the coal seam occurrence conditions during the mining process of the coal mining face, and it is difficult to achieve precise control during the pushing process of the hydraulic supports, it is difficult for the hydraulic supports in the working face to maintain good straightness, and manual adjustment is required in a timely manner, reducing the intelligent level of the working face. Summary of the Invention

[0003] The purpose of this application is to solve at least one of the technical problems in the related art to some extent.

[0004] To this end, the first object of this application is to propose a straightening control method for hydraulic supports to monitor and automatically control the straightness of the coal mining face and promote the improvement of the intelligent level of the coal mining face.

[0005] The second object of this application is to propose a straightening control system for hydraulic supports.

[0006] To achieve the above object, the first aspect embodiment of this application proposes a straightening control method for hydraulic supports, including: obtaining a three-dimensional geological model of the interface between the coal seam and the floor rock formation in the advancing direction of the working face; obtaining the first pushing stroke value of the hydraulic support pusher rod for pulling the hydraulic support and the second pushing stroke value of the scraper conveyor; obtaining the laser point cloud data model after the hydraulic support is pushed; based on the laser point cloud data model and the three-dimensional geological model, determining the first spatial position curve connected to the front end of the base after pulling the hydraulic support and the second spatial position curve of the scraper conveyor after pushing the scraper conveyor; determining the third pushing stroke value of the pulled hydraulic support according to the first position point and the second position point on the first spatial position curve, and determining the fourth pushing stroke value of the pushed scraper conveyor according to the third position point and the fourth position point on the second spatial position curve; and performing straightening control on the hydraulic support according to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value.

[0007] To achieve the above object, an embodiment of the second aspect of the present application provides a straightening control system for a hydraulic support, including: a coal seam and floor rock stratum interface detection module, a pushing stroke acquisition module, a lidar monitoring module, and a data analysis and control module, wherein the data analysis and control module is respectively connected to the coal seam and floor rock stratum interface detection module, the pushing stroke acquisition module, and the lidar monitoring module; the coal seam and floor rock stratum interface detection module is configured to obtain a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face; the pushing stroke acquisition module is configured to obtain a first pushing stroke value of the hydraulic support pulled by the pushing rod of the hydraulic support, and a second pushing stroke value of the scraper conveyor pushed; the lidar monitoring module is configured to obtain a lidar point cloud data model after the hydraulic support is pushed; the data analysis and control module is configured to determine a first spatial position curve connected to the front end of the base after the hydraulic support is pulled and a second spatial position curve of the scraper conveyor after the scraper conveyor is pushed based on the lidar point cloud data model and the three-dimensional geological model, and determine a third pushing stroke value of the pulled hydraulic support according to a first position point and a second position point on the first spatial position curve, and determine a fourth pushing stroke value of the pushed scraper conveyor according to a third position point and a fourth position point on the second spatial position curve, and perform straightening control on the hydraulic support according to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value.

[0008] The straightening control method and system for a hydraulic support provided by the present application obtain a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face, and monitor a first pushing stroke value of the hydraulic support pulled by the pushing rod of the hydraulic support, and a second pushing stroke value of the scraper conveyor pushed. Further, a lidar point cloud data model after the hydraulic support is pushed is established, and then a first spatial position curve and a second spatial position curve can be determined based on the lidar point cloud data model and the three-dimensional geological model. By determining a first position point and a second position point on the first spatial position curve, a third pushing stroke value of the pulled hydraulic support is determined, and by determining a third position point and a fourth position point on the second spatial position curve, a fourth pushing stroke value of the pushed scraper conveyor is determined. Further, the hydraulic support can be straightened according to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value. Thus, the straightness of the coal mining face can be monitored and automatically straightened, thereby improving the cutting efficiency of the coal shearer and the mining quality of the coal seam. By automatically straightening the hydraulic support, the intelligent level of the coal mining face can be promoted.

[0009] The additional aspects and advantages of the present application will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and / or additional aspects and advantages of the present application will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, in which:

[0011] Figure 1 is a schematic flowchart of a straightening control method for a hydraulic support provided by an embodiment of the present application;

[0012] Figure 2 is a schematic flowchart of another straightening control method for a hydraulic support provided by an embodiment of the present application;

[0013] Figure 3 is a schematic diagram of a preset position for marking a target position provided by an embodiment of the present application;

[0014] Figure 4 is a schematic flowchart of another straightening control method for a hydraulic support provided by an embodiment of the present application;

[0015] Figure 5 is a schematic diagram of a first spatial position curve and a second spatial curve provided by an embodiment of the present application;

[0016] Figure 6 is a schematic diagram of the spatial position relationship of multiple position points provided by an embodiment of the present application;

[0017] Figure 7 is a schematic flowchart of another straightening control method for a hydraulic support provided by an embodiment of the present application;

[0018] Figure 8 is a schematic structural diagram of a straightening control system for a hydraulic support provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to explain the present application and should not be construed as limiting the present application.

[0020] The straightening control method and device for a hydraulic support according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0021] Figure 1 is a flowchart of a straightening control method for a hydraulic support provided by an embodiment of the present application. As Figure 1 shown, the straightening control method for a hydraulic support according to an embodiment of the present application includes, but is not limited to, the following steps:

[0022] S101. Obtain a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face.

[0023] It should be noted that the execution subject of the straightening control method for the hydraulic support provided in the embodiments of the present application is an electronic device, and this electronic device can be a terminal device. Optionally, the terminal device can be a mobile electronic device or a non-mobile electronic device. Exemplarily, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a handheld computer, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc., and the non-mobile electronic device can be a personal computer (PC), a television, etc. The embodiments of the present application do not make specific limitations.

[0024] In some embodiments, obtain the geological data of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face, and establish a three-dimensional geological model according to the geological data.

[0025] In some embodiments, construct a three-dimensional coordinate system at the interface between the coal seam and the floor rock stratum, and establish a three-dimensional geological model according to the geological data and the three-dimensional coordinate system.

[0026] In some embodiments, a marking target can be determined in the roadway of the working face, and the marking target is used as the origin of the three-dimensional coordinate system, and then the X-axis direction, Y-axis direction, and Z-axis direction of the three-dimensional coordinate system are determined, so as to establish a three-dimensional coordinate system. Among them, the roadway of the working face includes a transportation roadway and a return airway.

[0027] Optionally, the advancing direction of the working face can be used as the X-axis direction, the length of the working face can be used as the Y-axis direction, and the direction perpendicular to the XY plane can be used as the Z-axis direction.

[0028] S102. Obtain the first pushing stroke value of the hydraulic support when the push rod of the hydraulic support pulls the hydraulic support, and the second pushing stroke value of the scraper conveyor.

[0029] In some embodiments, a pushing stroke sensor is set on the push rod of the hydraulic support, and the pushing stroke sensor is used to monitor the pushing stroke value of the push rod of the hydraulic support when pulling the hydraulic support to obtain the first pushing stroke value, and to monitor the pushing stroke value of the push rod of the hydraulic support when pushing the scraper conveyor to obtain the second pushing stroke value.

[0030] In some embodiments, the pushing stroke sensor can be a wire-pulling sensor, a vernier caliper sensor, etc., and the embodiments of the present application do not make specific limitations on the pushing stroke sensor.

[0031] In some embodiments, during the process of pulling the hydraulic support and pushing the scraper conveyor, the pushing stroke sensor can obtain the first pushing stroke value of pulling the hydraulic support and the second pushing stroke value of pushing the scraper conveyor by monitoring the extension and contraction amount of the hydraulic support pushing cylinder.

[0032] It should be noted that during the advancement of the coal mining face, the working face equipment may rise and fall, and the interface between the coal seam and the bottom rock layer may fluctuate. In order to ensure that the hydraulic support has good straightness, the end hydraulic support should be used as a reference to obtain the first and second displacement stroke values in the same horizontal plane.

[0033] S103, obtaining a laser point cloud data model after the hydraulic support is moved.

[0034] In some embodiments, a laser radar monitoring device can be used to perform laser scanning on the marked target, scraper conveyor, base and column of the hydraulic support to obtain laser scanning data, and then a laser point cloud data model can be established based on the laser scanning data.

[0035] In some embodiments, the laser radar monitoring device can be a handheld laser radar monitoring device or a mobile laser radar monitoring device, such as a laser radar monitoring device mounted on a rail robot or a flying robot to perform laser scanning on the marked target position, scraper conveyor, base and column of the hydraulic support.

[0036] S104, based on the laser point cloud data model and the three-dimensional geological model, determine the first spatial position curve of the front end connection of the rear base of the pulling hydraulic support and the second spatial position curve of the rear scraper conveyor of the pushing scraper conveyor.

[0037] In some embodiments, a fusion model can be obtained by fusing the laser point cloud data model and the three-dimensional geological model, and the first spatial position curve of the front end connection of the rear base of the pulling hydraulic support and the second spatial position curve of the scraper conveyor after the pushing scraper conveyor can be determined based on the fusion model.

[0038] In some embodiments, by determining the cutting direction and cutting depth, and cutting the working surface according to the cutting direction and cutting depth, the first spatial position curve of the front end connection of the rear base of the pulling hydraulic support and the second spatial position curve of the scraper conveyor behind the pushing scraper conveyor can be obtained.

[0039] In some embodiments, the marked target positions can be identified according to the fusion model. Then, taking the first intersection point of the base of the hydraulic support at the end of the working face adjacent to the marked target position and the push rod of the hydraulic support as a reference, and using the cutting depth of the shearer as a unit, the working face is sliced along the length direction of the working face. Thus, the first spatial position curve connected to the front end of the base after pulling the hydraulic support can be obtained.

[0040] In some embodiments, taking the first connection point of the hydraulic support at the end of the working face adjacent to the marked target position and the scraper conveyor as a reference, and using the cutting depth of the shearer as a unit, the working face is sliced along the length direction of the working face. Thus, the second spatial position curve of the scraper conveyor after pushing the scraper conveyor can be obtained.

[0041] S105. Determine the third pushing stroke value of the pulled hydraulic support according to the first position point and the second position point on the first spatial position curve, and determine the fourth pushing stroke value of the pushed scraper conveyor according to the third position point and the fourth position point on the second spatial position curve.

[0042] In some embodiments, the first intersection point of the base of the hydraulic support at the end of the working face adjacent to the marked target position and the push rod of the hydraulic support can be used as the first position point, and the second intersection point of the base and the push rod of the hydraulic support after pulling the hydraulic support can be used as the second position point.

[0043] In some embodiments, the first connection point of the hydraulic support at the end of the working face adjacent to the marked target position and the scraper conveyor can be used as the third position point, and the second connection point of the push rod of the hydraulic support and the scraper conveyor after pushing the scraper conveyor can be used as the fourth position point.

[0044] In some embodiments, the distance between the first position point and the second position point can be calculated according to the coordinate values of the first position point and the second position point, and this distance can be used as the third pushing stroke value of the pulled hydraulic support.

[0045] In some embodiments, the distance between the third position point and the fourth position point can be calculated according to the coordinate values of the third position point and the fourth position point, and this distance can be used as the fourth pushing stroke value of the pushed scraper conveyor.

[0046] S106. Perform straightening control on the hydraulic support according to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value.

[0047] In some embodiments, when the shearer performs coal cutting operations on the working face, performing straightening control on the hydraulic support can ensure a high straightness of the hydraulic support. The scraper conveyor can be pushed and the hydraulic support can be pulled according to the third pushing stroke value and the fourth pushing stroke value to achieve straightening control of the hydraulic support.

[0048] In some embodiments, according to the technological requirements of the working face, it can be determined whether the technological process of the working face is to first pull the hydraulic support and then push the scraper conveyor, or to first push the scraper conveyor and then pull the hydraulic support, so that the hydraulic support can be pulled according to the technological process by the third pushing stroke value, and the scraper conveyor can be pushed by the fourth pushing stroke value.

[0049] In some embodiments, according to the difference between the first pushing stroke value and the third pushing stroke value, and the difference between the second pushing stroke value and the fourth pushing stroke value, the control frequency for straightening control of the hydraulic support can be determined.

[0050] In some embodiments, if the difference is less than the difference threshold, and it is determined that the values of pushing the scraper conveyor and pulling the hydraulic support are relatively accurate, then the straightening control of the hydraulic support can be performed after the shearer executes the multi-knife coal cutting operation on the working face. That is to say, when the difference is less than the difference threshold, the control frequency of the straightening control of the hydraulic support is relatively high.

[0051] In some embodiments, if the difference is greater than or equal to the difference threshold, and it is determined that the values of pushing the scraper conveyor and pulling the hydraulic support are not accurate, then the straightening control of the hydraulic support can be performed after the shearer executes a single-knife coal cutting operation on the working face. That is to say, when the difference is greater than or equal to the difference threshold, the control frequency of the straightening control of the hydraulic support is relatively low.

[0052] For example, when the difference is less than the difference threshold, the straightening control of the hydraulic support can be performed after the shearer executes 3 - 5 cuts of coal; when the difference is greater than or equal to the difference threshold, the straightening control of the hydraulic support is performed once for each cut of coal by the shearer.

[0053] In the straightening control method of the hydraulic support provided by the embodiments of the present application, a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face is obtained, and the first pushing stroke value of the hydraulic support pulled by the pushing rod of the hydraulic support and the second pushing stroke value of the scraper conveyor are monitored. Further, a laser point cloud data model after the hydraulic support is pushed is established, and then, based on the laser point cloud data model and the three-dimensional geological model, the first spatial position curve and the second spatial position curve can be determined. By determining the first position point and the second position point on the first spatial position curve, the third pushing stroke value for pulling the hydraulic support is determined, and by determining the third position point and the fourth position point on the second spatial position curve, the fourth pushing stroke value for pushing the scraper conveyor is determined. Further, the straightening control of the hydraulic support can be performed according to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value. Thus, the straightness of the coal mining face can be monitored and automatically straightened, thereby improving the cutting efficiency of the coal shearer and the mining quality of the coal seam. By automatically straightening the hydraulic support, the improvement of the intelligent level of the coal mining face can be promoted.

[0054] Figure 2 is a flowchart of a straightening control method for a hydraulic support provided by an embodiment of the present application, as Figure 2 shown, the straightening control method for the hydraulic support in the embodiment of the present application includes, but is not limited to, the following steps:

[0055] S201, based on the preset marking target positions in the roadway, construct a spatial coordinate system corresponding to the three-dimensional geological model.

[0056] In some embodiments, the roadway of the working face includes a transportation roadway and a return airway, and the marking target positions can be preset in the transportation roadway or the return airway.

[0057] In some embodiments, since there are fewer devices and it is convenient for construction in the return airway, the marking target positions can be set in the return airway in the embodiments of the present application. As Figure 3 shown in the schematic diagram of the preset positions of the marking target positions.

[0058] In some embodiments, the marking target positions can be used as the origin of the spatial coordinate system, and the hydraulic support at the end of the working face adjacent to the marking target positions is determined, and the advancing direction of the base of the hydraulic support at the end of the working face along the advancing direction of the working face is determined, as Figure 3 the advancing direction of the working face in.

[0059] In some embodiments, the advancing direction can be determined as the X-axis direction, the length direction of the working face as the Y-axis direction, and the direction perpendicular to the XY plane as the Z-axis direction to generate a spatial coordinate system.

[0060] S202. Detect the interface between the coal seam and the floor rock formation in the advancing direction of the working face, and generate a three-dimensional geological model based on the detection results in a spatial coordinate system.

[0061] In some embodiments, a detection device for the interface between the coal seam and the floor can be used to conduct geological detection on the interface between the coal seam and the floor rock formation in the advancing direction of the working face.

[0062] Optionally, the detection device for the interface between the coal seam and the floor can be detection technical equipment such as long-distance horizontal drilling and geophysical exploration. The embodiments of the present application do not specifically limit the detection device for the interface between the coal seam and the floor.

[0063] In some embodiments, by using the detection device for the interface between the coal seam and the floor to conduct geological detection, the detection results corresponding to the interface between the coal seam and the floor rock formation can be obtained, and then a three-dimensional geological model can be generated based on the detection results in a spatial coordinate system.

[0064] In some embodiments, the detection results may include information such as the coal seam thickness, the properties of the floor rock formation, and the interface morphology. Then, the detection results can be input into three-dimensional geological modeling software or platform to generate a three-dimensional geological model.

[0065] S203. Obtain the first pushing stroke value of the hydraulic support by the pushing rod of the hydraulic support and the second pushing stroke value of the scraper conveyor.

[0066] In the embodiments of the present application, the implementation manner of step S203 can be implemented by any one of the embodiments of the present application. No limitation is made here and it will not be elaborated further.

[0067] S204. Conduct laser scanning on the marked target position, the scraper conveyor, the base and columns of the hydraulic support to obtain laser scanning data.

[0068] S205. Generate a laser point cloud data model based on the laser scanning data.

[0069] In some embodiments, a lidar monitoring device can be used to conduct laser scanning on the marked target position, the scraper conveyor, the base and columns of the hydraulic support to obtain laser scanning data. Then, a laser point cloud data model integrating the marked target position, the scraper conveyor, the base and columns of the hydraulic support can be generated based on the laser scanning data.

[0070] In some embodiments, the lidar monitoring device can be a handheld lidar monitoring device or a mobile lidar monitoring device. For example, a lidar monitoring device is installed on an orbital robot or a flying robot to conduct laser scanning on the marked target position, the scraper conveyor, the base and columns of the hydraulic support, so as to obtain laser scanning data.

[0071] In some embodiments, the laser scanning data can be pre - processed to eliminate errors and redundant information in the laser scanning data, which helps to improve the accuracy and efficiency of modeling. Then, based on the processed laser scanning data, a model generation algorithm is used to generate a model, thereby obtaining a laser point cloud data model.

[0072] In some embodiments, the generated model can also be processed by methods such as smoothing and detail enhancement to improve the authenticity and fineness of the model.

[0073] S206. Based on the laser point cloud data model and the three - dimensional geological model, determine the first spatial position curve connected to the front end of the rear base of the pulling hydraulic support and the second spatial position curve of the scraper conveyor after pushing the scraper conveyor.

[0074] In the embodiments of the present application, the implementation manner of step S206 can be implemented by any one of the embodiments of the present application respectively. No limitation is made here and it will not be elaborated further.

[0075] S207. According to the first position point and the second position point on the first spatial position curve, determine the third pushing stroke value of the pulling hydraulic support, and according to the third position point and the fourth position point on the second spatial position curve, determine the fourth pushing stroke value of the pushed scraper conveyor.

[0076] In the embodiments of the present application, the implementation manner of step S207 can be implemented by any one of the embodiments of the present application respectively. No limitation is made here and it will not be elaborated further.

[0077] S208. According to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value, perform straightening control on the hydraulic support.

[0078] In the embodiments of the present application, the implementation manner of step S208 can be implemented by any one of the embodiments of the present application respectively. No limitation is made here and it will not be elaborated further.

[0079] In the straightening control method of the hydraulic support provided by the embodiments of the present application, a spatial coordinate system is established according to the preset marking target in the roadway, and the detection result of the interface between the coal seam and the floor rock stratum is obtained. A three - dimensional geological model can be generated according to the detection result in the spatial coordinate system. By collecting the laser scanning data corresponding to the marking target, the scraper conveyor, the base and the columns of the hydraulic support, a laser point cloud data model can be established. Thus, by fusing the three - dimensional geological model and the laser point cloud data model, the spatial distribution and the mutual relationship of the interface between the coal seam and the floor rock stratum can be clearly displayed, and the accuracy of the model can be improved, providing accurate data for subsequent calculations.

[0080] Figure 4 is a flow chart of a hydraulic support straightening control method provided in an embodiment of the present application, such as Figure 4 As shown, the straightening control method of the hydraulic support in the embodiment of the present application includes but is not limited to the following steps:

[0081] S401, obtaining a three-dimensional geological model of the interface between the coal seam and the bottom rock layer in the advancing direction of the working face.

[0082] In the embodiment of the present application, the implementation method of step S401 can be implemented by any method in the embodiments of the present application, which is not limited here and will not be repeated.

[0083] S402, obtaining a first pushing stroke value of the hydraulic support pushing rod for pulling the hydraulic support, and a second pushing stroke value of the scraper conveyor.

[0084] In the embodiment of the present application, the implementation method of step S402 can be implemented by any method in the embodiments of the present application, which is not limited here and will not be repeated.

[0085] S403, obtaining a laser point cloud data model after the hydraulic support is moved.

[0086] In the embodiment of the present application, the implementation method of step S403 can be implemented by any method in the embodiments of the present application, which is not limited here and will not be repeated.

[0087] S404, fusing the laser point cloud data model and the three-dimensional geological model to obtain a fused model.

[0088] In some embodiments, based on the feature points of each of the laser point cloud data model and the three-dimensional geological model, feature points can be matched based on the feature points, and the matched feature points can be fused to obtain a fusion model.

[0089] S405, identifying the hydraulic support at the end of the working surface near the marked target position from the fusion model.

[0090] In some embodiments, the fusion model integrates the coordinate system of the three-dimensional geological model and the equipment distribution of the laser point cloud data model, and the marked target position can be directly determined from the fusion model, and then the hydraulic support at the end of the working face near the marked target position can be determined.

[0091] S406, identifying the first intersection point between the hydraulic support base and the hydraulic support push rod at the end of the working face, and cutting the working face along the length direction of the working face based on the first intersection point and the cutting depth of the coal mining machine to obtain a first spatial position curve.

[0092] S407, identifying the first connection point between the hydraulic support at the end of the working surface near the marked target position and the scraper conveyor.

[0093] S408, taking the first connection point as a reference and taking the cutting depth of the coal mining machine as a unit, the working surface is sectioned along the length direction of the working surface to obtain a second spatial position curve.

[0094] For example, Figure 5 The schematic diagram of the first spatial position curve and the second spatial curve shown in FIG. 1 is a schematic diagram of the first spatial position curve and the second spatial curve, by identifying the first intersection point of the hydraulic support base at the end of the working surface and the hydraulic support push rod, that is, Figure 5 Point B in the figure is taken as the reference point, and the cutting depth of the coal mining machine is taken as the unit to section the working surface along the length direction of the working surface to obtain the first spatial position curve of the front end connection of the rear base of the hydraulic support, that is, Figure 5 The curve where point D lies.

[0095] By identifying the first connection point between the hydraulic support at the end of the working surface near the marked target and the scraper conveyor, that is, Figure 5 Point C in the figure is taken as the reference point, and the cutting depth of the coal mining machine is taken as the unit to section the working face along the length direction of the working face to obtain the second spatial position curve of the scraper conveyor after the scraper conveyor is pushed, that is, Figure 5 The curve where point E is located.

[0096] S409, determining the third push stroke value of the pulling hydraulic support according to the first position point and the second position point on the first spatial position curve, and determining the fourth push stroke value of the pushing scraper conveyor according to the third position point and the fourth position point on the second spatial position curve.

[0097] In some embodiments, the first position point on the first spatial position curve is the first intersection point, the second position point is the second intersection point between the base and the hydraulic support push rod after the hydraulic support is pulled and moved. The third position point on the second spatial position curve is the first connection point, and the fourth position point is the second connection point between the hydraulic support push rod and the scraper conveyor after the scraper conveyor is pushed and moved.

[0098] Continue with Figure 5 For example, the first position point is point B, the second position point is point D, the third position point is point C, and the fourth position point is point E.

[0099] That is to say, the distance between point B and point D is the third pushing stroke value of the pulling hydraulic support; the distance between point C and point E is the fourth pushing stroke value of the pushing scraper conveyor.

[0100] In some embodiments, the distance between the first position point and the second position point can be calculated according to the coordinate values of the first position point and the second position point, and the distance between the third position point and the fourth position point can be calculated according to the coordinate values of the third position point and the fourth position point. Thus, the distance between the first position point and the second position point can be used as the third displacement travel value, and the distance between the third position point and the fourth position point can be used as the fourth displacement travel value.

[0101] Exemplary illustration, Figure 6 The figure shows a schematic diagram of the spatial position relationship of multiple position points. Let the spatial coordinates of point B be (x1, y1, z1), the spatial coordinates of point C be (x2, y2, z2), the spatial coordinates of point D be (x3, y3, z3), and the spatial coordinates of point E be (x4, y4, z4). Then, the third displacement travel value L can be calculated according to the spatial coordinates of point B and point D BD , The fourth displacement travel L can be calculated according to the spatial coordinates of point C and point E CE ,

[0102] S410, perform straightening control on the hydraulic support according to the first displacement travel value and the third displacement travel value, and the second displacement travel value and the fourth displacement travel value.

[0103] In the embodiments of the present application, the implementation manner of step S410 can be implemented by any one of the embodiments of the present application respectively. No limitation is made here and it will not be elaborated further.

[0104] In the straightening control method of the hydraulic support provided by the embodiments of the present application, by fusing the laser point cloud data model and the three-dimensional geological model, a fusion model is obtained. Furthermore, according to the fusion model, the first spatial position curve connected to the front end of the rear base of the pulled hydraulic support and the second spatial position curve of the scraper conveyor after pushing the scraper conveyor can be determined. Thus, through the fusion of the models, the accuracy and reliability of the model can be improved, providing more accurate data support for determining the liquid spatial position curve.

[0105] Figure 7 is a flowchart of a straightening control method of a hydraulic support according to the embodiments of the present application. As Figure 7 shown, the straightening control method of the hydraulic support in the embodiments of the present application includes but is not limited to the following steps:

[0106] S701, obtain a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face.

[0107] In the embodiments of the present application, the implementation manner of step S701 can be implemented by any one of the embodiments of the present application respectively. No limitation is made here and it will not be elaborated further.

[0108] S702. Obtain the first pushing stroke value for pushing the hydraulic support by the pushing rod of the hydraulic support, and the second pushing stroke value for pushing the scraper conveyor.

[0109] In the embodiments of the present application, the implementation manner of step S702 can be implemented by any one of the embodiments of the present application, and no limitation is made thereto herein, nor will it be elaborated further.

[0110] S703. Obtain the laser point cloud data model after the hydraulic support is pushed.

[0111] In the embodiments of the present application, the implementation manner of step S703 can be implemented by any one of the embodiments of the present application, and no limitation is made thereto herein, nor will it be elaborated further.

[0112] S704. Based on the laser point cloud data model and the three-dimensional geological model, determine the first spatial position curve connected to the front end of the rear base of the pushed hydraulic support and the second spatial position curve of the scraper conveyor after the scraper conveyor is pushed.

[0113] In the embodiments of the present application, the implementation manner of step S704 can be implemented by any one of the embodiments of the present application, and no limitation is made thereto herein, nor will it be elaborated further.

[0114] S705. Determine the third pushing stroke value for pushing the hydraulic support according to the first position point and the second position point on the first spatial position curve, and determine the fourth pushing stroke value for pushing the scraper conveyor according to the third position point and the fourth position point on the second spatial position curve.

[0115] In the embodiments of the present application, the implementation manner of step S705 can be implemented by any one of the embodiments of the present application, and no limitation is made thereto herein, nor will it be elaborated further.

[0116] S706. Determine the target coal seam type corresponding to the interface between the coal seam and the floor rock stratum.

[0117] S707. Obtain the first difference amount between the first pushing stroke value and the third pushing stroke value, and the second difference amount between the second pushing stroke value and the fourth pushing stroke value.

[0118] S708. Perform straightening control on the hydraulic support according to the target coal seam type, the first difference amount, and the second difference amount.

[0119] In some embodiments, the geological information of the interface between the coal seam and the floor rock stratum can be analyzed according to the three-dimensional geological model of the interface between the coal seam and the floor rock stratum to determine the target coal seam type corresponding to the interface between the coal seam and the floor rock stratum.

[0120] In some embodiments, the undulation magnitude of the coal seam floor can be determined as geological information of the interface between the coal seam and the floor rock stratum, and then the target coal seam type corresponding to the interface between the coal seam and the floor rock stratum can be determined based on the geological information.

[0121] In some embodiments, if the undulation of the coal seam floor is small, the target coal seam type corresponding to the interface between the coal seam and the floor rock stratum can be determined as a nearly horizontal coal seam. When the undulation of the coal seam floor is large, the interface between the coal seam and the floor rock stratum no longer remains nearly horizontal, but shows corresponding undulation changes.

[0122] Further, a first difference amount is determined based on the first pushing stroke value and the third pushing stroke value, and a second difference amount is determined based on the second pushing stroke value and the fourth pushing stroke value. That is to say, by performing a subtraction operation on the first pushing stroke value and the third pushing stroke value, the first difference amount is obtained, and by performing a subtraction operation on the second pushing stroke value and the fourth pushing stroke value, the second difference amount is obtained.

[0123] In some embodiments, when determining the target coal seam type corresponding to the interface between the coal seam and the floor rock stratum, as well as the first difference amount and the second difference amount, the straightening control of the hydraulic support can be performed based on the target coal seam type, the first difference amount, and the second difference amount.

[0124] In some embodiments, the control frequency for straightening control of the hydraulic support can be determined based on the target coal seam type, the first difference amount, and the second difference amount, so as to automatically perform straightening control on the hydraulic support according to the control frequency.

[0125] In some embodiments, when it is determined that there is a corresponding target coal seam type at the interface between the coal seam and the floor rock stratum, and both the first difference amount and the second difference amount are less than the difference threshold, it can be determined that the control frequency for straightening control of the hydraulic support is relatively high. For example, after the shearer advances 3 to 5 cuts of coal, the hydraulic support is straightened once.

[0126] In some embodiments, when it is determined that the undulation of the coal seam floor is large, and the first difference amount, and / or, the second difference amount is greater than or equal to the difference threshold, it can be determined that the control frequency for straightening control of the hydraulic support is relatively high. For example, after the shearer advances 1 cut of coal, the hydraulic support is straightened once.

[0127] In some embodiments, when it is determined that the undulation of the coal seam floor is large, and both the first difference amount and the second difference amount are less than the difference threshold, it can be determined that the control frequency for straightening control of the hydraulic support is relatively high.

[0128] In the straightening control method of the hydraulic support provided by the embodiments of the present application, by determining the first difference value between the first push stroke value and the third push stroke value, and the second difference value between the second push stroke value and the fourth push stroke value, and according to the target coal seam type corresponding to the interface between the coal seam and the floor rock stratum, the straightening control of the hydraulic support is carried out. Thus, the straightness of the coal mining face can be monitored and automatically straightened, thereby improving the cutting efficiency of the shearer and the mining quality of the coal seam. By automatically straightening the hydraulic support, the intelligent level of the coal mining face can be promoted.

[0129] Figure 8 It is a schematic structural diagram of a straightening control system for a hydraulic support provided by the embodiments of the present application.

[0130] As Figure 8 shown, the straightening control system 100 of the hydraulic support includes:

[0131] The interface detection module 101 between the coal seam and the floor rock stratum, the push stroke acquisition module 102, the lidar monitoring module 103, and the data analysis and control module 104, wherein the data analysis and control module 104 is respectively connected to the interface detection module 101 between the coal seam and the floor rock stratum, the push stroke acquisition module 102, and the lidar monitoring module 103.

[0132] The interface detection module 101 between the coal seam and the floor rock stratum is used to obtain the three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face.

[0133] The push stroke acquisition module 102 is used to obtain the first push stroke value of the hydraulic support pulled by the push rod of the hydraulic support and the second push stroke value of the scraper conveyor.

[0134] The lidar monitoring module 103 is used to obtain the lidar point cloud data model after the hydraulic support is pushed.

[0135] The data analysis and control module 104 is used to determine the first spatial position curve of the front end of the base connected after the hydraulic support is pulled and the second spatial position curve of the scraper conveyor after the scraper conveyor is pushed based on the lidar point cloud data model and the three-dimensional geological model, and determine the third push stroke value of the hydraulic support pulled according to the first position point and the second position point on the first spatial position curve, and determine the fourth push stroke value of the scraper conveyor according to the third position point and the fourth position point on the second spatial position curve, and carry out straightening control on the hydraulic support according to the first push stroke value and the third push stroke value, and the second push stroke value and the fourth push stroke value.

[0136] In some embodiments, the pushing stroke acquisition module 102 may be a pushing stroke sensor, that is, the first pushing stroke value of the hydraulic support pulled by the pushing rod of the hydraulic support and the second pushing stroke value of the scraper conveyor can be acquired by the pushing stroke sensor.

[0137] In some embodiments, the straightening control system 100 of the hydraulic support further includes a data transmission module 105. The data analysis and control module 104 can be connected to the coal seam and floor rock stratum interface detection module 101, the pushing stroke acquisition module 102, and the lidar monitoring module 103 based on the data transmission module 105.

[0138] In some embodiments, the data transmission module 105 is used to transmit the three-dimensional geological model, the first pushing stroke value, the second pushing stroke value, and the lidar point cloud data model to the data analysis and control module 104. Furthermore, the data analysis and control module 104 can perform straightening control on the hydraulic support based on the three-dimensional geological model, the first pushing stroke value, the second pushing stroke value, and the lidar point cloud data model.

[0139] In some embodiments, the coal seam and floor rock stratum interface detection module 101 is further used to acquire the geological data of the coal seam and floor rock stratum interface in the advancing direction of the working face, construct a three-dimensional coordinate system at the coal seam and floor rock stratum interface, and establish a three-dimensional geological model according to the geological data and the three-dimensional coordinate system.

[0140] In some embodiments, the lidar monitoring module 103 can use a lidar monitoring device to perform lidar scanning on the marked target position, the scraper conveyor, the base and columns of the hydraulic support to obtain lidar scanning data, and then a lidar point cloud data model can be established based on the lidar scanning data.

[0141] In some embodiments, after receiving the three-dimensional geological model, the first pushing stroke value, the second pushing stroke value, and the lidar point cloud data model, the data analysis and control module 104 can obtain a fusion model by fusing the lidar point cloud data model and the three-dimensional geological model, and identify the marked target position according to the fusion model. Furthermore, taking the first intersection point of the base of the hydraulic support at the end of the working face near the marked target position and the pushing rod of the hydraulic support as a reference, and using the cutting depth of the shearer as a unit, the working face is sliced along the length direction of the working face, and thus the first spatial position curve connected to the front end of the base after pulling the hydraulic support can be obtained.

[0142] In some embodiments, taking the first connection point of the hydraulic support at the end of the working face near the marked target position and the scraper conveyor as a reference, and using the cutting depth of the shearer as a unit, the working face is sliced along the length direction of the working face, and thus the second spatial position curve of the scraper conveyor after pushing the scraper conveyor can be obtained.

[0143] Further, the data analysis and control module 104 takes the first intersection point of the base of the hydraulic support at the end of the working face near the marked target position and the hydraulic support push rod as the first position point, and takes the second intersection point of the base of the hydraulic support after pulling and the hydraulic support push rod as the second position point, and takes the first connection point of the hydraulic support at the end of the working face near the marked target position and the scraper conveyor as the third position point, and takes the second connection point of the hydraulic support push rod and the scraper conveyor after pushing the scraper conveyor as the fourth position point.

[0144] Further, the data analysis and control module 104 determines the distance between the first position point and the second position point, and takes this distance as the third push stroke value for pulling the hydraulic support. And determines the distance between the third position point and the fourth position point, and takes this distance as the fourth push stroke value for pushing the scraper conveyor. Furthermore, the hydraulic support can be controlled to be straightened according to the first push stroke value and the third push stroke value, as well as the second push stroke value and the fourth push stroke value.

[0145] In some embodiments, the straightening control system 100 of the hydraulic support further includes a support push control module 106 for performing control actions of pushing the scraper conveyor and pulling the hydraulic support. Among them, the support push control module 106 is connected to the data transmission module 105.

[0146] In some embodiments, the data analysis and control module 104 can generate a control instruction according to the first difference value between the first push stroke value and the third push stroke value, and the second difference value between the second push stroke value and the fourth push stroke value, and send the control to the support push control module 106 through the data transmission module 105 to control the straightening of the hydraulic support.

[0147] In the straightening control system of the hydraulic support provided by the embodiments of the present application, through the coal seam and floor rock interface detection module, the push stroke acquisition module, the lidar monitoring module and the data analysis and control module, the coal seam and floor rock interface is detected and analyzed, and the pulling of the hydraulic support and the pushing of the scraper conveyor are monitored to obtain various data, and the data analysis and control module analyzes and processes the data to control the straightening of the hydraulic support. Thus, the straightness of the coal mining face can be monitored and automatically straightened, thereby improving the cutting efficiency of the shearer and the mining quality of the coal seam. By automatically straightening the hydraulic support, the intelligent level of the coal mining face can be promoted.

[0148] It should be noted that the foregoing explanation of the embodiments of the straightening control method of the hydraulic support is also applicable to the straightening control system of the hydraulic support in this embodiment, and will not be repeated here.

[0149] The collection, storage, use, processing, transmission, provision, and application of the user's personal information involved in this application comply with the provisions of relevant laws and regulations and do not violate public order and good customs.

[0150] It should be noted that personal information from users should be collected for legal and reasonable purposes and should not be shared or sold outside of these legal uses. In addition, such collection / sharing should be carried out after obtaining the informed consent of the users, including but not limited to notifying the users to read the user agreement / user notice and signing an agreement / authorization including authorizing relevant user information before the users use this function. In addition, any necessary steps should be taken to safeguard and protect access to such personal information data and ensure that other people with access to the personal information data comply with their privacy policies and procedures.

[0151] This application is expected to provide an implementation plan for users to selectively block the use or access of personal information data. That is, this application 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 restricting data collection and deleting the data. In addition, when applicable, personal identifiers are removed from such personal information to protect the privacy of users.

[0152] In the descriptions of the foregoing embodiments, the descriptions referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of this application. In this specification, the schematic descriptions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without contradiction, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.

[0153] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features. In the description of this application, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0154] Any process or method description represented in a flowchart or otherwise described herein can be understood to represent a module, segment, or portion of code including one or more executable instructions for implementing a customized logical function or process. The scope of the preferred embodiments of the present application includes additional implementations where functions may be executed not in the order shown or discussed, including in a substantially simultaneous manner according to the involved functions or in a reverse order, which should be understood by those skilled in the technical field of the embodiments of the present application.

[0155] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing a logical function, and can be embodied specifically in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, a system including a processor, or other systems that can fetch and execute instructions from the instruction execution system, apparatus, or device. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium include the following: an electrical connection portion with one or more wirings (electronic device), a portable computer diskette (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium can even be paper or other suitable medium on which the program can be printed, as the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or otherwise processing as appropriate, and then storing it in a computer memory.

[0156] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by 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, any one of the following techniques known in the art or a combination thereof can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0157] Those of ordinary skill in the art can understand that all or part of the steps carried out in the method of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiments.

[0158] In addition, in each of the embodiments of the present application, each functional unit can be integrated in a processing module, or each unit can exist physically alone, or two or more units can be integrated in a module. The above-mentioned integrated module can be implemented in the form of hardware or in the form of a software functional module. When the above-mentioned integrated module is implemented in the form of a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0159] The above-mentioned storage medium can be a read-only memory, a magnetic disk, an optical disc, etc. Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.

Claims

1. A straightening control method for a hydraulic support, characterized in that, Including: Obtaining a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face; Obtaining the first pushing stroke value of the hydraulic support for pushing the hydraulic support by the push rod and the second pushing stroke value of the scraper conveyor; Obtaining the laser point cloud data model after the hydraulic support is pushed; Based on the laser point cloud data model and the three-dimensional geological model, determining the first spatial position curve connected to the front end of the base after pulling the hydraulic support and the second spatial position curve of the scraper conveyor after pushing the scraper conveyor; According to the first position point and the second position point on the first spatial position curve, determining the third pushing stroke value of the pulled hydraulic support, and according to the third position point and the fourth position point on the second spatial position curve, determining the fourth pushing stroke value of the pushed scraper conveyor; According to the first pushing stroke value and the third pushing stroke value, and the second pushing stroke value and the fourth pushing stroke value, performing straightening control on the hydraulic support.

2. The method according to claim 1, characterized in that, The obtaining of the three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face includes: Based on the preset marking targets in the roadway, constructing a spatial coordinate system corresponding to the three-dimensional geological model; Detecting the interface between the coal seam and the floor rock stratum in the advancing direction of the working face, and generating the three-dimensional geological model according to the detection results in the spatial coordinate system.

3. The method according to claim 2, wherein The constructing of the spatial coordinate system corresponding to the three-dimensional geological model based on the preset marking targets in the roadway includes: Determining the hydraulic support at the end of the working face adjacent to the marking target; Determining the advancing direction of the base of the hydraulic support at the end of the working face along the advancing direction of the working face; Determining the advancing direction as the X-axis direction, taking the length direction of the working face as the Y-axis direction, and taking the direction perpendicular to the XY plane as the Z-axis direction to generate the spatial coordinate system.

4. The method according to claim 1, wherein The obtaining of the laser point cloud data model after the hydraulic support is pushed includes: Performing laser scanning on the marking targets, the scraper conveyor, the base and the columns of the hydraulic support to obtain laser scanning data; Based on the laser scanning data, generating the laser point cloud data model.

5. The method according to claim 1, wherein The determination process of the first spatial position curve includes: Fusing the laser point cloud data model and the three-dimensional geological model to obtain a fusion model; Identifying the hydraulic support at the end of the working face adjacent to the marking target from the fusion model; Identifying the first intersection point between the base of the hydraulic support at the end of the working face and the push rod of the hydraulic support, and taking the first intersection point as a reference, slicing the working face along the length direction of the working face with the shearer cutting depth as a unit to obtain the first spatial position curve.

6. The method according to claim 5, wherein The first position point is the first intersection point, and the second position point is the second intersection point between the base after pulling the hydraulic support and the push rod of the hydraulic support.

7. The method according to any one of claims 1-6, characterized in that, The determination process of the second spatial position curve includes: Identifying the first connection point between the hydraulic support at the end of the working face adjacent to the marking target and the scraper conveyor; Taking the first connection point as a reference, slicing the working face along the length direction of the working face with the shearer cutting depth as a unit to obtain the second spatial position curve.

8. The method according to claim 7, characterized in that The third position point is the first connection point, and the fourth position point is the second connection point between the hydraulic support push rod and the scraper conveyor after the scraper conveyor is pushed.

9. The method according to claim 1, wherein According to the first push stroke value and the third push stroke value, and the second push stroke value and the fourth push stroke value, the straightening control of the hydraulic support includes: Determining a target coal seam type corresponding to the interface between the coal seam and the floor rock stratum; Obtaining a first difference amount between the first push stroke value and the third push stroke value, and a second difference amount between the second push stroke value and the fourth push stroke value; According to the target coal seam type, the first difference amount and the second difference amount, performing straightening control on the hydraulic support.

10. A straightening control system for a hydraulic support, characterized in that, Including: A coal seam and floor rock stratum interface detection module, a push stroke acquisition module, a lidar monitoring module, and a data analysis and control module. Among them, the data analysis and control module is respectively connected to the coal seam and floor rock stratum interface detection module, the push stroke acquisition module, and the lidar monitoring module; The coal seam and floor rock stratum interface detection module is used to obtain a three-dimensional geological model of the interface between the coal seam and the floor rock stratum in the advancing direction of the working face; The push stroke acquisition module is used to obtain a first push stroke value of the hydraulic support push rod pulling the hydraulic support and a second push stroke value of pushing the scraper conveyor; The lidar monitoring module is used to obtain a lidar point cloud data model after the hydraulic support is pushed; The data analysis and control module is used to determine a first spatial position curve connected to the front end of the base after the hydraulic support is pulled and a second spatial position curve of the scraper conveyor after the scraper conveyor is pushed based on the lidar point cloud data model and the three-dimensional geological model, and determine the third push stroke value of the pulled hydraulic support according to the first position point and the second position point on the first spatial position curve, and determine the fourth push stroke value of the pushed scraper conveyor according to the third position point and the fourth position point on the second spatial position curve, and perform straightening control on the hydraulic support according to the first push stroke value and the third push stroke value, and the second push stroke value and the fourth push stroke value.

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