Method and device for determining height of coal mine support, terminal equipment and medium

Abstract

The invention relates to a height determination method and device of a coal mine support, terminal equipment and a medium. The method comprises the following steps: acquiring a center number corresponding to a center support in real time; the central bracket is a coal mine bracket corresponding to the central position of the walking part; acquiring the inclination angle of the working part of the coal mining machine in real time; wherein the tilt angle sensor is installed at the joint of the rocker arm and the walking box, and the joint intersects with an underground datum plane of a coal mine; and determining the support height corresponding to the roller according to the pre-acquired parameter information of the coal mining machine, the support width, the center number and the inclination angle. The tilt angle sensor only needs to be mounted on the coal mining machine, so that the cost is low, and the calculation accuracy is also improved.

Description

Technical Field

[0001] This invention belongs to the field of coal mine mining equipment monitoring technology, specifically relating to a method, device, terminal equipment and medium for determining the height of coal mine supports. Background Technology

[0002] During coal mining, the hydraulic supports of the coal mining machine need to be adjusted according to the height of the coal seam to ensure that the coal mining machine can operate smoothly. In addition, parameters such as the initial support force, working resistance, moving force and pushing force of the support also need to be calculated according to the support height to ensure that the support can provide stable support performance under different working conditions. Therefore, in order to ensure that the support can adapt to changes in the height of the coal seam and provide sufficient support strength to maintain the stability of the roof, it is necessary to calculate the height of the coal mining machine support.

[0003] Currently, the calculation of support height mainly includes:

[0004] (1) Install a distance sensor on the support and measure the height of the support directly through the distance sensor; however, the underground environment of coal mines is complex and there are a lot of dust, vibration and other factors, which can easily lead to a decrease in the measurement accuracy of the distance sensor or failure, affecting the accuracy of height calculation.

[0005] (2) The pitch angle is obtained by using tilt sensors installed on the support, and the support height is calculated using trigonometric functions and other calculations in combination with parameters such as the support length. This method relies on the normal operation of the tilt sensors on the support. If some coal mine supports do not have tilt sensors installed, or if they are missing or malfunction, the accurate calculation of the corresponding support height cannot be achieved. Summary of the Invention

[0006] The purpose of this invention is to provide a method, device, terminal equipment, and medium for determining the height of coal mine supports, so as to solve the problem that the height calculation results are inaccurate due to the need to install tilt sensors on each coal mine support in the prior art.

[0007] To address the aforementioned problems, this invention relates to a method for determining the height of coal mine supports, applicable to coal mining mechanisms. The coal mining mechanism includes a coal mining machine and a support section; the support section is located on one side of the coal mining machine's travel direction, and includes multiple coal mine supports; the coal mining machine includes a working section and a traveling section; the working section includes a roller, a rocker arm, and a traveling box; including:

[0008] Real-time acquisition of the center number corresponding to the central support; the central support is the coal mine support corresponding to the center position of the walking part.

[0009] The tilt angle of the working part of the coal mining machine is obtained in real time by a tilt sensor; wherein the tilt sensor is installed at the connection between the rocker arm and the traveling box, and the connection intersects with the underground reference surface of the coal mine;

[0010] The height of the coal mine support corresponding to the drum is determined based on the pre-acquired parameters of the coal mining machine, the support width, the center number, and the tilt angle.

[0011] In some embodiments, the center number corresponding to the center support is obtained in real time by a detector;

[0012] The detector includes an infrared sensor, which is set at a preset position on each coal mine support.

[0013] Alternatively, the detector may include an encoder mounted at the center of the walking section.

[0014] In some embodiments, the process of obtaining the center number corresponding to the center bracket in real time based on the infrared sensor includes:

[0015] The number of infrared sensors that block the infrared light and the support number are determined based on all infrared sensors.

[0016] The center position of the walking part is determined based on its length.

[0017] The center number corresponding to the center bracket is determined based on the center location, the number of obstructions, and the bracket number.

[0018] In some embodiments, the process of obtaining the center number corresponding to the center bracket in real time according to the encoder includes:

[0019] The encoder is used to obtain the moving distance and direction of the coal mining machine;

[0020] The number of movable supports is determined based on the moving distance and the support width;

[0021] The center number corresponding to the center support is determined based on the support number corresponding to the initial position of the encoder, the number of moving supports, and the direction of movement.

[0022] In some embodiments, the parameter information includes the length of the walking section, the length of the rocker arm, and the diameter of the roller.

[0023] In some embodiments, determining the height of the coal mine support corresponding to the drum based on pre-acquired parameter information of the coal mining machine, the support width, the center number, and the tilt angle includes:

[0024] The bracket number corresponding to the roller is determined based on the center number, the length of the rocker arm, the length of the walking part, the width of the bracket, and the tilt angle.

[0025] The height of the roller apex is determined based on the tilt angle, the length of the rocker arm, and the diameter of the roller.

[0026] The height of the coal mine support corresponding to the drum is determined based on the height of the drum apex and the support number corresponding to the drum.

[0027] In some embodiments, determining the support number corresponding to the roller based on the center number, the length of the rocker arm, the length of the traveling portion, the support width, and the tilt angle includes:

[0028] The horizontal distance of the rocker arm is determined based on its length and tilt angle.

[0029] The number of bracket intervals is determined based on the horizontal distance of the rocker arm, the length of the traveling part, and the width of the bracket.

[0030] The bracket number corresponding to the roller is determined based on the number of bracket intervals and the center number.

[0031] To address the aforementioned problems, the present invention relates to a height determination device for coal mine supports, applicable to coal mining mechanisms, wherein the coal mining mechanism includes a coal mining machine and a support section; the support section is located on one side of the coal mining machine's travel direction, and the support section includes multiple coal mine supports; the coal mining machine includes a working section and a traveling section; the working section includes a roller, a rocker arm, and a traveling box; the device includes a detector, an inclination sensor, and a processor.

[0032] The detector is used to acquire the center number corresponding to the central support in real time; the central support is the coal mine support corresponding to the center position of the walking part.

[0033] The tilt sensor is used to acquire the tilt angle of the working part of the coal mining machine in real time; wherein, the tilt sensor is installed at the connection between the rocker arm and the traveling box, and the connection intersects with the underground reference plane of the coal mine;

[0034] The processor is used to determine the support height corresponding to the drum based on the pre-acquired parameter information of the coal mining machine, the support width, the center number, and the tilt angle.

[0035] To address the aforementioned problems, the present invention relates to a terminal device comprising a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the aforementioned method for determining the height of a coal mine support.

[0036] To address the aforementioned problems, the present invention relates to a computer-readable storage medium storing a computer program, which, when executed on a processor, implements the aforementioned method for determining the height of a coal mine support.

[0037] The beneficial effects of this invention are as follows:

[0038] Compared to existing technologies that install tilt sensors on every coal mine support, this invention, by installing tilt sensors only on the working part of the coal mining machine, not only reduces costs but also avoids the problem of inaccurate calculation of the corresponding support height when some coal mine supports are missing or malfunctioning due to the lack of tilt sensors. Attached Figure Description

[0039] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly described below:

[0040] Figure 1 This is a schematic diagram of the coal mining mechanism in an embodiment of the present invention;

[0041] Figure 2 This is a flowchart illustrating the method for determining the height of a coal mine support in an embodiment of the present invention.

[0042] Figure 3 This is a schematic diagram of the process of obtaining the center number corresponding to the center support in real time based on the infrared sensor in an embodiment of the present invention;

[0043] Figure 4 This is a schematic diagram of the process of obtaining the center number corresponding to the center support in real time based on the infrared sensor in an embodiment of the present invention;

[0044] Figure 5 This is a vector relationship diagram extracted based on the coal mining structure in an embodiment of the present invention;

[0045] Figure 6 This is a flowchart illustrating the process of determining the height of the coal mine support corresponding to the roller in an embodiment of the present invention.

[0046] Figure 7 This is a schematic diagram of the process for determining the bracket number corresponding to the roller in an embodiment of the present invention;

[0047] Explanation of reference numerals in the attached drawings: 100-support section; 200-working section; 210-roller; 220-rocker arm; 230-traverse box; 300-traverse section; 310-first traction unit; 320-electric control box; 330-second traction unit. Detailed Implementation

[0048] To make the technical objectives, technical solutions, and beneficial effects of the present invention clearer, the technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention; that is, the described embodiments are merely some embodiments of the present invention, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of the present application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0049] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0050] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0051] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0052] To address the problem of inaccurate calculation of coal mine support height in existing methods, this invention proposes a support height calculation method that eliminates the need to install tilt sensors on each coal mine support and can adapt to complex working conditions.

[0053] like Figure 1The diagram shows a structural schematic of an underground coal mining mechanism. The mechanism includes a coal mining machine and a support section 100. The support section 100 is located on one side of the coal mining machine and includes multiple hydraulic supports located in the coal mine, such as support 2, support 3, support 4, support 5, ..., support 14, support 15. Only a portion is shown in the diagram; further supports such as support 1 and support 16 may also be present. The coal mining machine includes a working section 200, a traveling section 300, and a traveling track 400. The traveling section 300 is movably connected to the working section 200 at both ends and moves on the traveling track 400 to allow the working section 200 to cut coal during its movement.

[0054] The working part 200 includes a roller 210, a rocker arm 220, and a traveling box 230; one end of the rocker arm 220 is connected to the roller 210, and the other end of the rocker arm 220 is connected to the traveling box 230; the traveling part 300 includes a first traction unit 310, an electrical control box 320, and a second traction unit 330; the traveling part 300 is connected to the working parts 200 at both ends through the first traction unit 310 and the second traction unit 330. For example, the traveling part 300 is connected to one end of the working part 200 through the connection of the first traction unit 310 and the traveling box 230.

[0055] The following examples illustrate the method for determining the height of the coal mine support.

[0056] like Figure 2 As shown, the method for determining the height of coal mine supports involved in this invention includes:

[0057] S100, real-time acquisition of the center number corresponding to the center support; the center support is the coal mine support corresponding to the center position of the traveling part.

[0058] In some embodiments, the center number Nc corresponding to the central support is obtained in real time by a detector; the detector includes an infrared sensor, which is set at a preset position on each coal mine support; the movement of the coal mining machine will block the infrared emission, and the infrared measurement distance will change, so the center position of the traveling part and the corresponding central support number can be determined. The preset position corresponds to the traveling part 300 of the coal mining machine, that is, as long as the infrared light emitted on the coal mine support can be blocked by the traveling part 300 of the coal mining machine, the specific position is not limited.

[0059] like Figure 3 As shown, the process of obtaining the center number corresponding to the center support in real time based on the infrared sensor includes:

[0060] S111, determine the number of infrared rays blocked by the coal mining machine and the support number based on all infrared sensors;

[0061] S112, Determine the center position of the walking part based on its length;

[0062] S113, determine the center number corresponding to the center bracket based on the center position, the number of obstructions, and the bracket number.

[0063] For example, the infrared sensors are respectively set up as follows: Figure 1 The preset positions of coal mine supports 2 to 15 are determined by infrared sensors, identifying supports whose infrared light is blocked by the coal mining machine. For example, approximately six supports are blocked, with support numbers primarily distributed as 7, 8, 9, 10, 11, and 12. The length of the coal mining machine's traveling section can be obtained from its instruction manual. The center position of the traveling section, point A, is calculated based on this length. Based on point A, the number of blocks, and the support numbers, the center support's center number is determined to be 9. In other examples, approximately five supports are blocked, with support numbers primarily distributed as 8, 9, 10, 11, and 12. Therefore, the center support corresponding to the center position of the coal mining machine's traveling section is determined to be 10.

[0064] In other embodiments, the detector includes an encoder mounted at the center of the walking section.

[0065] like Figure 4 As shown, the process of obtaining the center number corresponding to the center bracket in real time based on the encoder includes:

[0066] S121, the moving distance and direction of the coal mining machine are obtained through the encoder;

[0067] S122, Determine the number of movable supports based on the moving distance and the support width;

[0068] S123, determine the center number corresponding to the center support based on the support number corresponding to the encoder's initial position, the number of moving supports, and the direction of movement.

[0069] For example, the width of the coal mining machine's support frame can be determined from the instruction manual of the support structure. Before the coal mining machine starts working, the support frame number corresponding to the initial encoder position is manually determined. Then, after the coal mining machine starts moving, the encoder can obtain the moving distance and moving method of the coal mining machine in real time. If the moving distance and support width determine the number of moving supports to be an integer, then this integer is the number of moving supports. If the moving distance and support width determine the number of moving supports to be 5.3, then the number of moving supports is rounded to 6. If the support frame number corresponding to the initial encoder position is 5, and the moving direction is forward along the travel direction, then the center support number corresponding to the moved center support is 11.

[0070] S200, which acquires the tilt angle of the working part of the coal mining machine in real time; the tilt sensor is installed at the connection between the rocker arm and the traveling box, and the connection intersects with the underground reference surface of the coal mine.

[0071] In this embodiment of the invention, the tilt angle of the working part of the coal mining machine can be obtained in real time through the tilt sensor.

[0072] S300 determines the height of the coal mine support corresponding to the drum based on the pre-acquired parameters of the coal mining machine, support width and center number, and tilt angle.

[0073] In this embodiment, with Figure 1 Taking the working section on the left side of the traveling section as an example, this section describes the support height corresponding to the left drum. The parameters of the coal mining machine are obtained from the machine's instruction manual, and the support width is obtained from the product manual for the support components. The parameters of the coal mining machine include the length EF of the traveling section, the length CE of the rocker arm, and the diameter of the drum. Correspondingly, the vector relationship diagram extracted based on the coal mining structure is shown below. Figure 5 As shown in the diagram. Point A is the center of the coal mining machine's traveling mechanism and is located on the reference plane underground in the coal mine. G is the vertical point of the drum center on the reference plane. E / F are the installation positions of the tilt sensors. C is the center of the drum, and D is the apex of the drum. The height of the drum apex corresponds to the height of the coal mining support. Therefore, determining the support height corresponding to the drum is essentially determining the height of the drum apex.

[0074] In this embodiment of the invention, combined with Figure 5 The method involves determining the height of the coal mine support corresponding to the drum based on pre-acquired parameters of the coal mining machine, support width and center number, and tilt angle. Figure 6 As shown, it includes:

[0075] S310, determine the corresponding support number of the roller based on the center number, the length of the rocker arm, the length of the traveling part, the support width, and the tilt angle;

[0076] In embodiments of the present invention, such as Figure 7 As shown, the process of determining the bracket number corresponding to the roller includes:

[0077] S311, Determine the horizontal distance of the rocker arm based on its length and tilt angle;

[0078] In some embodiments, the length CE of the rocker arm and the tilt angle θ determine the horizontal distance GE of the rocker arm = CE × cosθ.

[0079] S312, determine the number of support intervals based on the horizontal distance of the rocker arm, the length of the traveling part and the width of the support;

[0080] In some embodiments, the distance GA between the roller and the center position is determined based on the horizontal distance GE of the rocker arm and the length EF of the traveling part; the number of support intervals M is determined based on the distance GA between the roller and the center position and the support width W. For example, if M is 4.7, then M is actually 5.

[0081] S313, determine the bracket number corresponding to the roller based on the bracket spacing and center number.

[0082] In some embodiments, based on the center number Nc, the bracket number Nc+M corresponding to the roller is obtained by adding / subtracting the bracket interval number in the corresponding direction.

[0083] S320, the height of the roller apex is determined based on the tilt angle, the length of the rocker arm, and the diameter of the roller;

[0084] In some embodiments, the vertical distance CG from the center of the rocker arm to the reference plane is determined based on the tilt angle θ and the length CE of the rocker arm; then the radius DC of the roller is calculated based on the diameter D of the roller; finally, the vertical distance CG from the center of the rocker arm to the reference plane and the radius DC of the roller are summed to obtain the height D of the roller apex.

[0085] S330, the height of the coal mine support corresponding to the drum is determined based on the height of the drum apex and the support number corresponding to the drum.

[0086] In some embodiments, the coal mine support corresponding to the roller is support number 14, then the height of the roller apex D is the height of the corresponding support, that is, the height of the roller apex D is the support height of support number 14.

[0087] In some preferred embodiments, considering that the height of the rocker arm may vary due to coal mining operations (such as cutting coal seams of different thicknesses) in actual production and is not always at its highest position, directly using the measured rocker arm height as the support height would lead to frequent and uncontrollable fluctuations in the support height curve. Instead, the maximum height of the support in the same coal mine within a preset time period (e.g., 12 hours) is taken as the height of the support in that coal mine, ensuring coverage of the complete operation cycle and accurately reflecting the maximum height required for support.

[0088] In some preferred embodiments, considering that in actual production, the coal mining machine may undergo reciprocating motion (e.g., when moving back from support 7, the rocker arm is located at support 2), some supports (e.g., support 1) may not have their height data updated because the rocker arm has not passed their position. Therefore, a reasonable update cycle (e.g., 6 hours, which can be adjusted according to actual production) is set. If a support does not update its height data within this cycle, the height data of its adjacent support (preferably the closest support with updated height) is used for continuation. When the coal mining machine passes near the support again and obtains valid data, the height of that support is immediately updated, overwriting the previous continuation data.

[0089] This invention also proposes a device for determining the height of a coal mine support. Exemplarily, this device is applicable to a coal mining mechanism, which includes a coal mining machine and a support section. The support section is located on one side of the coal mining machine's travel direction and includes multiple coal mine supports. The coal mining machine includes a working section and a traveling section. The working section includes a drum, a rocker arm, and a traveling box. The device includes a detector, a tilt sensor, and a processor. The detector is used to acquire the center number corresponding to the center support in real time. The center support is the coal mine support corresponding to the center position of the traveling section. The tilt sensor is used to acquire the tilt angle of the working section of the coal mining machine in real time. The tilt sensor is installed at the connection between the rocker arm and the traveling box, and the connection intersects with the underground reference surface of the coal mine. The processor is used to determine the support height corresponding to the drum based on pre-acquired parameters of the coal mining machine, support width and center number, and tilt angle.

[0090] It is understood that the device in this embodiment corresponds to the method for determining the height of the coal mine support in the above embodiment, and the options in the above embodiment are also applicable to this embodiment, so they will not be described again here.

[0091] This application also provides a terminal device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the electronic device to perform the above-described method for determining the height of a coal mine support.

[0092] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0093] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0094] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned electronic device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0095] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0096] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0097] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0098] Finally, it should be noted that the above embodiments are only for illustration and not for limiting the technical solutions of the present invention. Any equivalent substitutions, modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A method for determining the height of a coal mine support, characterized in that, This is applicable to coal mining mechanisms, which include a coal mining machine and a support system. The support system is located on one side of the coal mining machine's travel direction and includes multiple coal mine supports. The coal mining machine includes a working part and a traveling part. The working part includes a drum, a rocker arm, and a traveling box. Real-time acquisition of the center number corresponding to the central support; the central support is the coal mine support corresponding to the center position of the walking part. The tilt angle of the working part of the coal mining machine is obtained in real time by a tilt sensor; wherein the tilt sensor is installed at the connection between the rocker arm and the traveling box, and the connection intersects with the underground reference surface of the coal mine; The height of the coal mine support corresponding to the drum is determined based on the pre-acquired parameters of the coal mining machine, the support width, the center number, and the tilt angle.

2. The method for determining the height of a coal mine support according to claim 1, characterized in that, The center number corresponding to the center support is obtained in real time through the detector; The detector includes an infrared sensor, which is set at a preset position on each coal mine support. Alternatively, the detector may include an encoder mounted at the center of the walking section.

3. The method for determining the height of a coal mine support according to claim 2, characterized in that, The process of obtaining the center number corresponding to the center support in real time based on the infrared sensor includes: The number of infrared sensors that block the infrared light and the support number are determined based on all infrared sensors. The center position of the walking part is determined based on its length. The center number corresponding to the center bracket is determined based on the center location, the number of obstructions, and the bracket number.

4. The method for determining the height of a coal mine support according to claim 2, characterized in that, The process of obtaining the center number corresponding to the center support in real time based on the encoder includes: The encoder is used to obtain the moving distance and direction of the coal mining machine; The number of movable supports is determined based on the moving distance and the support width; The center number corresponding to the center support is determined based on the support number corresponding to the initial position of the encoder, the number of moving supports, and the direction of movement.

5. The method for determining the height of a coal mine support according to claim 1, characterized in that, The parameter information includes the length of the walking section, the length of the rocker arm, and the diameter of the roller.

6. The method for determining the height of a coal mine support according to claim 5, characterized in that, The step of determining the height of the coal mine support corresponding to the drum based on the pre-acquired parameters of the coal mining machine, the support width, the center number, and the tilt angle includes: The bracket number corresponding to the roller is determined based on the center number, the length of the rocker arm, the length of the walking part, the width of the bracket, and the tilt angle. The height of the roller apex is determined based on the tilt angle, the length of the rocker arm, and the diameter of the roller. The height of the coal mine support corresponding to the drum is determined based on the height of the drum apex and the support number corresponding to the drum.

7. The method for determining the height of a coal mine support according to claim 6, characterized in that, The step of determining the support number corresponding to the roller based on the center number, the length of the rocker arm, the length of the traveling part, the width of the support, and the tilt angle includes: The horizontal distance of the rocker arm is determined based on its length and tilt angle. The number of bracket intervals is determined based on the horizontal distance of the rocker arm, the length of the traveling part, and the width of the bracket. The bracket number corresponding to the roller is determined based on the number of bracket intervals and the center number.

8. A height determination device for coal mine supports, characterized in that, This device is applicable to coal mining mechanisms, which include a coal mining machine and a support system. The support system is located on one side of the coal mining machine's travel direction and includes multiple coal mine supports. The coal mining machine includes a working part and a traveling part. The working part includes a drum, a rocker arm, and a traveling box. The device includes a detector, a tilt sensor, and a processor. The detector is used to acquire the center number corresponding to the central support in real time; the central support is the coal mine support corresponding to the center position of the walking part. The tilt sensor is used to acquire the tilt angle of the working part of the coal mining machine in real time; wherein, the tilt sensor is installed at the connection between the rocker arm and the traveling box, and the connection intersects with the underground reference plane of the coal mine; The processor is used to determine the support height corresponding to the drum based on the pre-acquired parameter information of the coal mining machine, the support width, the center number, and the tilt angle.

9. A terminal device, characterized in that, The terminal device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the method for determining the height of a coal mine support as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed on a processor, implements the method for determining the height of a coal mine support according to any one of claims 1-7.

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