Straightness detection and control device and method for scraper conveyer of fully mechanized coal mining face

Abstract

The invention discloses a fully mechanized coal mining face scraper conveyor straightness detection and control device and method, and the method comprises the steps: scanning a scraper conveyor, a coal mining machine and a hydraulic support in real time through a laser radar array to form point cloud data, and combining the azimuth reference provided by at least two sets of directional control systems; and after the point cloud data is preprocessed and fused by the computer processing system, curve coordinates and pushing and sliding displacement parameters of the scraper conveyer can be accurately calculated, and real-time control over the pushing and sliding process is achieved. By adopting the method, the accuracy and the real-time performance of detecting and controlling the straightness of the scraper conveyer on the fully mechanized coal mining face can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical measurement methods, and in particular to a device and method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining working face. Background Art

[0002] Comprehensively mechanized mining is one of the most important mining processes in coal mining. Fully mechanized operations enable coal cutting, transportation, and support, making it a highly efficient method of mining. The equipment used in a fully mechanized coal mining face primarily consists of "three machines": a shearer for cutting coal, self-propelled hydraulic supports for roof support, and a flexible face conveyor for transporting coal. A fully mechanized mining face is typically around 200 meters long. These three machines are used in conjunction with one another, typically deploying one shearer, hundreds of hydraulic supports, and a set of face conveyors. The shearer travels on the face conveyor's guide rails, cutting coal parallel to the face. The hydraulic supports and face conveyors follow the shearer, leveraging their interaction to push and move the conveyors perpendicular to the face. To ensure continuous and safe production, the fully mechanized mining process requires the face conveyor to maintain a straight line as much as possible. To this end, some technical means have emerged to detect the straightness of scraper conveyors and adjust the "step" distance of each time in real time.

[0003] Currently, methods for measuring the straightness of scraper conveyors are primarily based on two categories: image detection technology and inertial navigation technology. Image detection-based methods require the installed camera angle to be fixed; any change will affect the measurement results. In actual production, remote monitoring personnel often use cameras to observe the operation of surrounding equipment, severely impacting the accuracy of image acquisition. Even after resetting, the position can still differ significantly from the original. Secondly, the lighting in fully mechanized mining surfaces is poor, making it difficult to capture photos that meet the requirements. Inertial navigation-based methods require the shearer to complete a single cut before outputting trajectory data, which serves as a reference for the next cut. This lags behind other methods, requiring high inertial sensor accuracy. Furthermore, long-term operation of the shearer results in cumulative errors, requiring manual input of auxiliary parameters, which are often difficult to obtain. In summary, existing methods for measuring the straightness of scraper conveyors suffer from large measurement errors and poor real-time performance. Summary of the Invention

[0004] The purpose of the present invention is to provide a device and method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining working face, so as to improve the accuracy and real-time performance of the detection and control of the straightness of a scraper conveyor on a fully mechanized mining working face.

[0005] To achieve the above objectives, the present invention provides a device for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining face, comprising a laser radar array, at least two sets of directional control systems and a computer processing system;

[0006] The laser radar array includes N laser radars for scanning the scraper conveyor, the coal mining machine and the hydraulic support to form point cloud real-time data;

[0007] The orientation control system includes an orientation reference for providing an orientation reference;

[0008] The computer processing system is used to pre-process and fuse the real-time point cloud data, and calculate the scraper conveyor curve coordinates and push-slide displacement parameters based on the orientation reference to perform push-slide control.

[0009] Optionally, N is a positive integer greater than or equal to 2, and N is greater than the length of the comprehensive mining working face divided by the scanning diameter of a single laser radar.

[0010] Optionally, each of the laser radars is installed on different hydraulic supports at equal intervals.

[0011] Optionally, the computer processing system is further configured to:

[0012] According to the installation spacing of the laser radars, the scanning area range of each laser radar is controlled to accelerate the formation of real-time point cloud data.

[0013] Optionally, the directional control system is respectively installed at the nose and tail of the scraper conveyor, and the laser radar closest to the directional control system scans the corresponding directional reference object of the directional control system.

[0014] Optionally, the directional control system is a three-axis motion system based on motor control, and the three axes include an X-axis, a Y-axis, and a Z-axis;

[0015] Among them, the X-axis is perpendicular to the fully mechanized mining working face, the direction of the directional reference object of the directional control system is consistent with the direction of the X-axis, and the Y-axis is parallel to the fully mechanized mining working face.

[0016] Optionally, a common reference object is provided between every two adjacent laser radars, and the common reference object is one of a scraper conveyor, a hydraulic support, a coal mining machine, or an object with geometric features.

[0017] To achieve the above objectives, the present invention further provides a method for detecting and controlling the straightness of a scraper conveyor on a fully-mechanized mining working face, which is applied to a computer processing system in the device for detecting and controlling the straightness of a scraper conveyor on a fully-mechanized mining working face as described in any one of the above items, comprising:

[0018] Obtain real-time data of N point clouds scanned by the lidar array;

[0019] Preprocessing the N point cloud real-time data to form N point cloud images;

[0020] Fusing the N point cloud images to output the curved coordinate position information of the scraper conveyor and the frame number of the hydraulic support where the shearer is currently located;

[0021] Match the directional reference of the directional control system scanned by the laser radar with the curved coordinate position information of the scraper conveyor, and output a position relationship diagram of the directional reference and the scraper conveyor;

[0022] Calculate the distance difference between the push scraper conveyors of two adjacent hydraulic supports of the current cutter according to the position relationship diagram;

[0023] According to the frame number of the hydraulic support where the coal mining machine is currently located and the distance difference, the pushing distance of the hydraulic support where the current cutter has not been pushed is controlled to complete the pushing of the current cutter.

[0024] Optionally, after controlling the sliding distance of the hydraulic support where the current cutter has not been pushed and slid according to the frame number of the hydraulic support where the coal mining machine is currently located and the distance difference, and completing the sliding of the current cutter, the method further includes:

[0025] Update the position relationship diagram of the directional reference and scraper conveyor;

[0026] Recalculate the distance difference between the push scraper conveyors of the two adjacent hydraulic supports of the current cutter according to the updated position relationship diagram;

[0027] According to the frame number of the hydraulic support where the coal mining machine is currently located and the recalculated distance difference, the pushing distance of the hydraulic support that has not been pushed in the next cut is controlled to complete the pushing in the next cut.

[0028] Optionally, preprocessing the N point cloud real-time data to form N point cloud images includes:

[0029] Filtering, denoising, clustering and segmenting operations are performed on the N point cloud real-time data to form N point cloud images.

[0030] Compared with the existing technology, the present invention provides a device and method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining face, which can realize the dynamic characterization of the scraper conveyor curve and the precise calculation of the push-and-drop displacement parameters based on real-time point cloud data, and provide a real-time and quantitative control basis for the current knife push-and-drop, thereby ensuring the straightness of the scraper conveyor after the push-and-drop; at the same time, through the coordinated control of the coal mining machine frame number and the distance difference, the operation coordination of the coal mining machine and the hydraulic support is guaranteed, the continuity and safety of the production of the fully mechanized mining face are improved, and the data foundation is laid for the error compensation of the subsequent push-and-drop control, finally forming a closed-loop optimization system from data acquisition and processing to real-time control, effectively improving the automation accuracy and production efficiency of the fully mechanized mining operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present invention, the following is a brief introduction to the drawings used in the implementation methods. Obviously, the drawings described below are only some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0032] Figure 1 This is a structural block diagram of a device for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining face provided by an embodiment of the present invention;

[0033] Figure 2 is a schematic diagram of a directional control system provided by an embodiment of the present invention;

[0034] Figure 3 This is a flow chart of a method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining face provided by an embodiment of the present invention;

[0035] Figure 4 This is a positional relationship diagram of a directional reference object and a scraper conveyor provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0036] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0037] It should be noted that there are currently two main methods for measuring the straightness of scraper conveyors: (1) The measurement method based on image detection technology, that is, through the pictures taken by the cameras installed on the top of every two or three hydraulic supports, the relative position of the hydraulic support base within the visible range is detected by the image, and then the images collected by other cameras are spliced ​​and fused. This method requires that the angle of the installed camera must be fixed, and any change will affect the measurement results. In actual production, remote monitoring personnel often use cameras to observe the operation of surrounding equipment remotely, which seriously affects the accuracy of image acquisition. Even the position after reset will have a large error from the original position. Secondly, the lighting on the comprehensive mining surface is poor, and it is often difficult to take photos that meet the requirements. (2) The measurement method based on inertial navigation technology is most typical of LASC (an automated coal mining method based on gyroscope guidance positioning). It is equipped with a high-precision inertial sensor and uses an algorithm to accurately position the coal mining machine and obtain the running trajectory, providing compensation data support for the straightening of the scraper conveyor. However, the disadvantage of this method is that the coal mining machine can only output trajectory data after completing a coal cutting. As a reference for the next coal cutting, it has a lag. If the inertial sensor accuracy is high, it will cost expensive hardware costs. In addition, there will be cumulative errors when the coal mining machine runs for a long time, and manual input of auxiliary parameters is required, which are often difficult to obtain.

[0038] Therefore, in order to solve the problems existing in the above-mentioned prior art, the embodiments of the present invention provide a device and method for detecting and controlling the straightness of a scraper conveyor of a fully mechanized mining working face.

[0039] See also Figure 1 , Figure 1 This is a block diagram of a device for detecting and controlling the straightness of a scraper conveyor for a fully mechanized mining face provided by an embodiment of the present invention. Figure 1 As shown in the figure, the equipment used in the fully mechanized mining face of a coal mine is mainly "three machines", specifically the coal shearer for cutting coal, the self-moving hydraulic support for supporting the roof, and the flexible scraper conveyor for transporting coal. The coal shearer on the fully mechanized mining face moves along the scraper conveyor, and the hydraulic support follows behind the coal shearer and pushes the scraper conveyor through a push rod (pushing the scraper conveyor to move in a direction perpendicular to the working face). The scraper conveyor then uses the push rod to move the hydraulic support in a direction perpendicular to the working face. The coal shearer completes a fixed depth of coal cutting from the head to the tail, which is called "one cut". To ensure the continuity and safety of production, the scraper conveyor is required to be as straight as possible after each cut. Therefore, it is necessary to detect the relative displacement of the scraper conveyor in the direction perpendicular to the working face, especially the displacement at the push rod connection.

[0040] like Figure 1As shown, the straightness detection and control device for the scraper conveyor of the fully mechanized mining working face includes a laser radar array, at least two sets of directional control systems and a computer processing system (not shown in the figure);

[0041] The laser radar array includes N laser radars 1 to N, which are used to scan scraper conveyors, coal mining machines and hydraulic supports (1 to M) to form real-time point cloud data; wherein each of the laser radars is installed at equal intervals on different hydraulic supports; specifically, N ≥ 2, is a positive integer, and N > the length of the fully mechanized mining working face / the scanning diameter of a single laser radar.

[0042] Preferably, in order to improve the accuracy of point cloud position information, the laser radars in the embodiments of the present invention all adopt high-precision scanning radars.

[0043] It is worth noting that the embodiment of the present invention requires that the number of laser radars is greater than the length of the fully mechanized mining face / the scanning range of a single laser radar and that an evenly spaced installation method is set. By increasing the number of laser radars and reducing the installation spacing to obtain more accurate position information, however, since the amount of point cloud data will increase, it will consume computer processing time and reduce real-time performance. Therefore, the number of installed laser radars should not be too large.

[0044] In an optional embodiment, a common reference object is provided between every two adjacent laser radars, and the common reference object is one of a scraper conveyor, a hydraulic support, a coal mining machine, or an object with geometric features.

[0045] The orientation control systems 1 and 2 respectively include orientation reference objects 1 and 2 for providing an orientation reference;

[0046] In an optional embodiment, the directional control system is respectively installed at the nose and tail of the scraper conveyor, and the laser radar closest to the directional control system scans the corresponding directional reference object of the directional control system.

[0047] For example, Figure 1 As shown, in an embodiment of the present invention, a directional control system is installed at the head and tail of the scraper conveyor, and each directional control system is equipped with a directional reference object. Every time the coal mining machine cuts a piece of coal, the directional control system will also move in a direction perpendicular to the coal mining surface by a distance of about the cutting depth.

[0048] It should be noted that, in the embodiment of the present invention, the laser radar 1 close to the nose must scan the directional reference object 1 of the directional control system, and the laser radar N close to the tail must scan the directional reference object 2 of the directional control system.

[0049] In an optional embodiment, the orientation control system is a three-axis motion system based on motor control, and the three axes include an X-axis, a Y-axis, and a Z-axis;

[0050] Among them, the X-axis is perpendicular to the fully mechanized mining working face, the direction of the directional reference object of the directional control system is consistent with the direction of the X-axis, and the Y-axis is parallel to the fully mechanized mining working face.

[0051] For example, see Figure 2 , Figure 2 Schematic diagram of the directional control system provided by the embodiment of the present invention. Figure 2 As shown, the directional control system is a control system with three-axis motion capability based on motor control at the base. The X-axis and Y-axis are respectively perpendicular and parallel to the fully mechanized coal mining working face according to the orientation information provided by the geological survey department. The direction of the directional reference object is the same as the X-axis direction. During the coal cutting process of the coal mining machine, the directional control system controls the X-axis direction in real time according to the input parameters, and the Y-axis and Z-axis directions can also be controlled.

[0052] The computer processing system is used to pre-process and fuse the real-time point cloud data, and calculate the scraper conveyor curve coordinates and push-slide displacement parameters based on the orientation reference to perform push-slide control.

[0053] In an optional embodiment, the computer processing system is further configured to:

[0054] According to the installation spacing of the laser radars, the scanning area range of each laser radar is controlled to accelerate the formation of real-time point cloud data.

[0055] It can be understood that in order to reduce the amount of computer calculations and increase the calculation speed, the scanning area of ​​the laser radar can be limited. According to the installation spacing, the scanning area range of the laser radar can be set and controlled by the computer processing system, especially for large-range laser radars, to reduce the number of collected point clouds.

[0056] In summary, the embodiment of the present invention provides a device for detecting and controlling the straightness of a scraper conveyor on a fully mechanized working face. The device forms point cloud data by scanning the scraper conveyor, the coal mining machine and the hydraulic support in real time through a laser radar array. Combined with the orientation references provided by at least two directional control systems, after the computer processing system pre-processes and fuses the point cloud data, the scraper conveyor curve coordinates and the displacement parameters of the push-slide can be accurately calculated, thereby achieving real-time control of the push-slide process. The embodiment of the present invention can not only collect and calculate the scraper conveyor curve in real time through the collaboration of multiple laser radar point clouds and directional systems, provide displacement parameters for the current and next cutters, but also output the frame number of the hydraulic support where the coal mining machine is located. It can also qualitatively and quantitatively evaluate the straightness of each cut based on the relative positional relationship between the directional reference object and the curve, and finally form a quantitative index for the mining of the entire working face, providing data reference for subsequent fully mechanized mining face production, and ensuring production continuity, safety and mining accuracy.

[0057] The embodiment of the present invention also provides a method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining working face, which is applied to the computer processing system in the device for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining working face as described above. Figure 3 , Figure 3 This is a flow chart of a method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining face provided by an embodiment of the present invention. Figure 3 As shown, the method for detecting and controlling the straightness of a scraper conveyor of a fully mechanized mining working face includes steps S1 to S6:

[0058] S1. Obtain real-time data of N point clouds scanned by the laser radar array;

[0059] In specific implementation, each laser radar is first used to perform point cloud scanning. For example, laser radar X (X=1, 2...N) scans the scraper conveyor, coal mining machine and hydraulic support within its scanning range to form their respective point clouds.

[0060] S2. Preprocessing the N point cloud real-time data to form N point cloud images;

[0061] Specifically, the preprocessing of the N point cloud real-time data to form N point cloud images includes:

[0062] Filtering, denoising, clustering and segmenting operations are performed on the N point cloud real-time data to form N point cloud images.

[0063] S3. Fusing the N point cloud images to output the curved coordinate position information of the scraper conveyor and the frame number of the hydraulic support where the shearer is currently located;

[0064] It should be noted that point cloud fusion is the fusion of N point cloud images. On the basis of setting a common reference object for two adjacent laser radars, the basis of fusion is the common reference object of every two adjacent laser radars.

[0065] S4. Matching the directional reference object of the directional control system scanned by the laser radar with the curved coordinate position information of the scraper conveyor, and outputting a position relationship diagram of the directional reference object and the scraper conveyor;

[0066] Specifically, corresponding software may be run on a computer processing system to output the curved coordinate position information of the scraper conveyor and the frame number of the hydraulic support where the shearer is located.

[0067] For example, see Figure 4 , Figure 4 This is a positional relationship diagram of a directional reference object and a scraper conveyor provided by an embodiment of the present invention. Figure 4As shown, the directional reference objects 1 and directional reference objects 2 of the directional control system scanned by the laser radar 1 and the laser radar N are matched with the scraper conveyor curve, and a position relationship diagram of the directional reference objects 1, directional reference objects 2 and the scraper conveyor is output.

[0068] S5, calculating the distance difference between the push scraper conveyors of two adjacent hydraulic supports of the current cutter according to the position relationship diagram;

[0069] For example, according to Figure 4 From the position relationship diagram shown, the distance difference between the push scraper conveyors of the two adjacent hydraulic supports of the current cutter is Δ1, Δ2...ΔN-1, which can further provide a displacement reference for the hydraulic support that has not been pushed and slipped by the current cutter.

[0070] S6. According to the frame number of the hydraulic support where the coal mining machine is currently located and the distance difference, the pushing distance of the hydraulic support where the current cutter has not been pushed is controlled to complete the pushing of the current cutter.

[0071] Specifically, assuming that the frame number of the hydraulic support where the coal mining machine is currently located is T1, T2 and T3 are two adjacent hydraulic supports that lag behind T1 by about 6-8 frames, and T3 has been pushed and T2 has not been pushed, then the scraper conveyor distance difference corresponding to T2 and T3 is Δm (m is 1~(N-1)). When the coal mining machine is at T1, T2 is pushed and slid according to production requirements, and the pushing value relative to T3 is ΔX (ΔX is the pushing value preset according to production needs). At this time, the pushing distance of T2 is controlled to be (Δm-ΔX).

[0072] For example, if Δm = 1000mm and ΔX = 800mm, the control amount = 1000-800 = 200mm, meaning T2 needs to be pushed 200mm to achieve a displacement difference of 800mm between T2 and T3 (which meets the target), and the scraper conveyor partially returns to a straight line from a curve. If Δm = 700mm and ΔX = 800mm, the control amount = 700-800 = -100mm, meaning T2 needs to be pushed 100mm in the opposite direction (or the amount of pushing is reduced) to achieve a displacement difference of 800mm.

[0073] In an optional embodiment, after step S6, the method further includes:

[0074] Update the position relationship diagram of the directional reference and scraper conveyor;

[0075] Recalculate the distance difference between the push scraper conveyors of the two adjacent hydraulic supports of the current cutter according to the updated position relationship diagram;

[0076] According to the frame number of the hydraulic support where the coal mining machine is currently located and the recalculated distance difference, the pushing distance of the hydraulic support that has not been pushed in the next cut is controlled to complete the pushing in the next cut.

[0077] Specifically, when all the supports of the current cutter are pushed and slid in step S6, the computer processing system re-outputs the latest position relationship diagram of the directional reference object and the scraper conveyor according to the method of the above steps S1 to S6, and obtains the distance difference between the pushing scraper conveyors of all two adjacent hydraulic supports of the current cutter again, and then these distance differences are used as compensation values ​​to be included in the corresponding control amount when each hydraulic support of the next cutter is pushed and slid.

[0078] In summary, the embodiment of the present invention provides a method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized working face. By acquiring the real-time point cloud data of the laser radar array and preprocessing and fusing it, the curve coordinates of the scraper conveyor and the rack number of the coal mining machine can be accurately output. The difference in the displacement distances of adjacent supports is calculated based on the positional relationship between the directional reference object and the curve, thereby controlling the pushing distance of the unpushed supports. This method can realize the dynamic characterization of the scraper conveyor curve and the accurate calculation of the pushing displacement parameters based on real-time point cloud data, provide a real-time and quantitative control basis for the current knife pushing, and ensure the straightness of the scraper conveyor after pushing. At the same time, through the coordinated control of the coal mining machine rack number and the distance difference, the operation coordination of the coal mining machine and the hydraulic support is guaranteed, the continuity and safety of the fully mechanized working face production are improved, and the data foundation is laid for the error compensation of the subsequent pushing control, ultimately forming a closed-loop optimization system from data acquisition, processing to real-time control, effectively improving the automation accuracy and production efficiency of the fully mechanized mining operation.

[0079] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A device for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining working face, characterized in that: Includes a laser radar array, at least two directional control systems and a computer processing system; The laser radar array includes N laser radars for scanning the scraper conveyor, the coal mining machine and the hydraulic support to form point cloud real-time data; The orientation control system includes an orientation reference for providing an orientation reference; The computer processing system is used to pre-process and fuse the real-time point cloud data, and calculate the scraper conveyor curve coordinates and push-slide displacement parameters based on the orientation reference to perform push-slide control.

2. The straightness detection and control device for a fully mechanized mining face scraper conveyor according to claim 1, characterized in that: N is a positive integer greater than or equal to 2, and N is greater than the length of the comprehensive mining working face divided by the scanning diameter of a single laser radar.

3. The straightness detection and control device for a fully mechanized mining face scraper conveyor according to claim 2, characterized in that: Each of the laser radars is installed on different hydraulic supports at equal intervals.

4. The straightness detection and control device for a fully mechanized mining face scraper conveyor according to claim 3, characterized in that: The computer processing system is further configured to: According to the installation spacing of the laser radars, the scanning area range of each laser radar is controlled to accelerate the formation of real-time point cloud data.

5. The straightness detection and control device for a fully mechanized mining face scraper conveyor according to claim 1, characterized in that: The directional control systems are respectively installed at the nose and tail of the scraper conveyor, and the laser radar closest to the directional control system scans the corresponding directional reference object of the directional control system.

6. The straightness detection and control device for a fully mechanized mining face scraper conveyor according to claim 1, characterized in that: The directional control system is a three-axis motion system based on motor control, and the three axes include X-axis, Y-axis and Z-axis; Among them, the X-axis is perpendicular to the fully mechanized mining working face, the direction of the directional reference object of the directional control system is consistent with the direction of the X-axis, and the Y-axis is parallel to the fully mechanized mining working face.

7. The straightness detection and control device for a fully mechanized mining face scraper conveyor according to claim 1, characterized in that: A common reference object is provided between every two adjacent laser radars, and the common reference object is one of a scraper conveyor, a hydraulic support, a coal mining machine or an object with geometric features.

8. A method for detecting and controlling the straightness of a scraper conveyor in a fully mechanized mining working face, characterized in that: The computer processing system used in the straightness detection and control device for a fully mechanized mining face scraper conveyor according to any one of claims 1 to 7 comprises: Obtain real-time data of N point clouds scanned by the lidar array; Preprocessing the N point cloud real-time data to form N point cloud images; Fusing the N point cloud images to output the curved coordinate position information of the scraper conveyor and the frame number of the hydraulic support where the shearer is currently located; Match the directional reference of the directional control system scanned by the laser radar with the curved coordinate position information of the scraper conveyor, and output a position relationship diagram of the directional reference and the scraper conveyor; Calculate the distance difference between the push scraper conveyors of two adjacent hydraulic supports of the current cutter according to the position relationship diagram; According to the frame number of the hydraulic support where the coal mining machine is currently located and the distance difference, the pushing distance of the hydraulic support where the current cutter has not been pushed is controlled to complete the pushing of the current cutter.

9. The method for detecting and controlling the straightness of a scraper conveyor on a fully mechanized mining face according to claim 8, wherein: After controlling the sliding distance of the hydraulic support where the current cutter has not been pushed and slid according to the frame number of the hydraulic support where the coal shearer is currently located and the distance difference, and completing the sliding of the current cutter, the method further includes: Update the position relationship diagram of the directional reference and scraper conveyor; Recalculate the distance difference between the push scraper conveyors of the two adjacent hydraulic supports of the current cutter according to the updated position relationship diagram; According to the frame number of the hydraulic support where the coal mining machine is currently located and the recalculated distance difference, the pushing distance of the hydraulic support that has not been pushed in the next cut is controlled to complete the pushing in the next cut.

10. The method for detecting and controlling the straightness of a scraper conveyor in a fully mechanized mining face according to claim 8, wherein: The preprocessing of the N point cloud real-time data to form N point cloud images includes: Filtering, denoising, clustering and segmenting operations are performed on the N point cloud real-time data to form N point cloud images.

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