Anti-collision hierarchical control method for top coal caving support and rear scraper conveyor

Abstract

The invention relates to an anti-collision hierarchical control method for a top coal caving support and a rear scraper conveyor, which belongs to the technical field of coal mines and comprises the following steps: acquiring stroke length data of each jack on the top coal caving support, dip angle data of each component and attitude information of the rear scraper conveyor; the space coordinates of the hinge point of the shield beam and the tail beam, the end point of the tail end of the insertion plate and the vertex of the rear scraper conveyor are calculated; an anti-interference safety lifting line is arranged above the rear scraper conveyor, the vertical distance between the anti-interference safety lifting line and the tail end of the insertion plate is calculated, and the danger coefficient is calculated by combining the space coordinates of the hinge point and the inclination angle data of the tail beam; the motion trend of the tail beam is judged based on the change rate of the tail beam jack, the risk level is judged in combination with the danger coefficient and the threshold value, the tail beam jack and the plugboard jack are controlled, real-time monitoring and risk assessment of the motion state of the tail beam and the plugboard are achieved, the control strategy can be adjusted in a self-adaptive mode, collision is effectively avoided, and the reliability of the system is improved. And the production safety and continuity of the fully mechanized caving face are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mines, in particular to a caving coal support and rear scraper conveyor anti-collision hierarchical control method. BACKGROUND

[0002] In thick seam fully mechanized caving mining, the tail beam and the plug plate of the caving coal support and the rear scraper conveyor are staggered in space, and there is a risk of dynamic collision. Once interference occurs, it may damage equipment, interrupt production, or even cause major accidents such as chain breakage and support collapse, which seriously threatens the safe and efficient operation of the working face.

[0003] In the existing technology, inertial navigation and visual recognition combined positioning technology are used in the cooperative control of the coal mining machine and the caving coal support, which realizes the precise matching of the cutting track of the coal mining machine and the support moving step distance, effectively reducing the collision risk between them. Some researches have also realized the adaptive adjustment of the caving process parameters by fusing multi-modal sensing information such as pressure, vibration and image, combined with model predictive control strategy.

[0004] However, the existing technology lacks a dynamic anti-collision scheme specifically for the tail beam and plug plate of the caving coal support and the rear scraper conveyor. The existing methods mostly rely on manual judgment or simple alarm, and cannot realize real-time risk prediction and active protection, making it difficult to form a complete safety control closed loop. SUMMARY

[0005] In view of the deficiencies in the related art, the present application aims to provide a caving coal support and rear scraper conveyor anti-collision hierarchical control method to solve the technical problem that the existing technology lacks real-time prediction and active protection capability for the dynamic collision between the support tail beam and the scraper conveyor, and it is difficult to form a safety control closed loop.

[0006] The present application provides a caving coal support and rear scraper conveyor anti-collision hierarchical control method, comprising the following steps: Data acquisition step: acquiring the stroke length data of each jack on the caving coal support, the inclination data of each component on the caving coal support, and the attitude information of the rear scraper conveyor; Pose solving step: taking the center point on the base of the caving coal support as the coordinate origin, establishing a right-handed Cartesian coordinate system as the world coordinate system, and based on the stroke length data, the inclination data and the attitude information, solving the spatial coordinates of the hinge points of the shield beam and tail beam of the caving coal support, the end points of the plug plate end of the caving coal support and the vertex of the rear scraper conveyor in the world coordinate system; The risk coefficient calculation step comprises: setting an anti-interference safety lifting line at a preset height above the rear scraper conveyor, calculating a vertical distance between the tail end of the plug plate and the anti-interference safety lifting line based on spatial coordinates of the tail end of the plug plate and the vertex of the rear scraper conveyor, and calculating a risk coefficient based on the vertical distance, spatial coordinates of the hinge point and inclination angle data of the tail beam. The collision risk determination step comprises: calculating a tail beam jack change rate according to the stroke length data of the tail beam jack, determining a movement trend of the tail beam based on the tail beam jack change rate, determining a risk level based on a comparison result of the movement trend of the tail beam, the risk coefficient and a threshold value, and controlling actions of the tail beam jack and the plug plate jack according to the risk level. By combining spatial coordinate calculation with multi-dimensional risk quantification, real-time monitoring and risk assessment of the movement state of the tail beam and the plug plate are realized, the control strategy can be adaptively adjusted according to the movement trend of the equipment and the risk coefficient, so that early warning and active intervention are realized under complex working conditions, collision between the support and the scraper conveyor is effectively avoided, and the safety and continuity of production of the fully-mechanized caving face are improved.

[0007] In some embodiments of the present application, the pose calculation step comprises: Based on the geometric constraint relationship of each component of the coal caving support, a coal caving support perception model is constructed by using a complex vector method and a D-H parameter method, the stroke length data, the inclination angle data and the attitude information are input into the coal caving support perception model, and spatial coordinates of the hinge point of the shield beam and the tail beam, the inner end point of the tail end of the plug plate, the outer end point of the tail end of the plug plate and the four vertices of the rear scraper conveyor in the world coordinate system are calculated by coordinate transformation. By introducing the complex vector method and the D-H parameter method to construct the coal caving support perception model, accurate spatial coordinate calculation of the hinge point of the shield beam, the inner and outer end points of the tail end of the plug plate and the vertices of the scraper conveyor is realized, multi-source sensor data is fused into the pose information in the unified world coordinate system by using the geometric constraint relationship and the coordinate transformation, and a high-precision geometric basis is provided for subsequent collision risk calculation, so that the reliability and dynamic adaptability of the anti-collision system are significantly improved.

[0008] In some embodiments of the present application, the pose calculation step further comprises: Based on the complex vector method, a closed-loop vector equation containing each component of the coal caving support is constructed, the stroke length data and the inclination angle data are combined, and the closed-loop vector equation is solved to obtain spatial coordinates of the hinge point of the shield beam and the tail beam in the world coordinate system. establishing a coordinate system transformation chain of the top coal caving support based on the D-H parameter method, and obtaining spatial coordinates of an inner end point of the plug end and an outer end point of the plug end in the world coordinate system based on the coordinate system transformation chain; Based on the attitude information of the rear scraper conveyor, the spatial coordinates of the four vertices of the rear scraper conveyor in the world coordinate system are solved through coordinate rotation and translation transformation. By solving the closed loop vector equation by complex vector method, the coordinates of the hinge points are obtained, the coordinate system transformation chain is established by D-H parameter method, and the vertex position of the rear scraper conveyor is solved based on the attitude information of the rear scraper conveyor through coordinate rotation and translation, which enhances the analytical ability and calculation efficiency of the model, ensures that the spatial relationship of the key points can be quickly and accurately output under different working conditions, and provides stable data support for real-time anti-collision decision.

[0009] In some embodiments of the application, the danger coefficient includes a height danger coefficient and an angle danger coefficient; and the danger coefficient calculation step includes: A cuboid enclosing box is formed by the rear scraper conveyor and the anti-interference safe lifting line, and the spatial coordinates of the four vertices of the upper surface of the cuboid enclosing box in the world coordinate system are calculated based on the spatial coordinates of the four vertices of the rear scraper conveyor in the world coordinate system; The minimum value of the z-axis coordinates of the inner end point of the plug end and the outer end point of the plug end in the world coordinate system is selected as the first point position; The maximum value of the z-axis coordinates of the four vertices of the upper surface of the cuboid enclosing box in the world coordinate system is selected as the second point position; The vertical distance between the plug end and the anti-interference safe lifting line is calculated according to the difference between the first point position and the second point position; If the top coal caving support and the rear scraper conveyor do not change the attitude angle, the tail beam and the shield beam are in the same straight line, and the plug of the top coal caving support is completely retracted, the height difference between the plug end and the anti-interference safe lifting line is calculated; The height danger coefficient is calculated based on the vertical distance and the height difference. By defining the calculation method of the height danger coefficient, the vertical distance between the lowest point of the plug end and the highest point of the enclosing box is compared, and the initial height difference under ideal working conditions is introduced as a reference, the relative position relationship between the plug and the safe lifting line is dynamically quantified, the collision risk change in the height direction is accurately reflected, and the system has early identification ability for potential interference problems, thereby providing key judgment basis for the hierarchical control strategy.

[0010] In some embodiments of the application, the danger coefficient calculation step further includes: When the vertical distance is 0, the tail beam of the top coal caving support collides with the rear scraper conveyor, and the maximum swing angle of the tail beam is calculated; The angle danger coefficient is calculated according to the difference between the maximum swing angle of the tail beam and the real-time angle of the tail beam of the top coal caving support during operation. The angle danger coefficient is defined by calculating the difference between the maximum swing angle and the real-time angle of the tail beam, which quantifies the safe swing margin of the tail beam under the fixed length of the insertion plate, can effectively evaluate the angle direction risk of the tail beam during the process of approaching the scraper conveyor, makes up for the deficiency of single height coefficient judgment, enables the system to comprehensively judge the collision risk from the vertical and rotational two dimensions, and improves the comprehensiveness and accuracy of control.

[0011] In some embodiments of the present application, the collision risk determination step further comprises: If the tail beam jack change rate is less than 0, the movement trend of the tail beam is to approach the rear scraper conveyor; If the tail beam jack change rate is greater than 0, the movement trend of the tail beam is to move away from the rear scraper conveyor. By analyzing the positive and negative of the tail beam jack change rate to judge the movement trend of approaching or moving away, the equipment movement state is included in the risk determination logic, which can distinguish different scenes of active approach and passive moving away, so as to take differentiated control strategies under the same position relationship, enhance the intelligent response ability and decision rationality of the system to dynamic working conditions.

[0012] In some embodiments of the present application, the collision risk determination step further comprises: If the movement trend of the tail beam is to move away from the rear scraper conveyor, and the height danger coefficient is less than the height threshold, the top coal caving support and the rear scraper conveyor have no collision risk, and normal operation is maintained; If the movement trend of the tail beam is to approach the rear scraper conveyor, the height danger coefficient is less than the height threshold, and the angle danger coefficient is greater than the angle threshold, the top coal caving support and the rear scraper conveyor have no collision risk, and normal operation is maintained. By setting the determination condition for the tail beam moving away trend, the equipment operation is maintained when the height danger coefficient does not exceed the threshold or the angle danger coefficient still has margin, unnecessary intervention is avoided when the risk actually decreases, the continuity and efficiency of the coal drawing operation are guaranteed, the production optimization orientation of the system under the safety premise is embodied, and the balance between safety and efficiency is realized.

[0013] In some embodiments of the present application, the collision risk determination step further comprises: If the movement trend of the tail beam is approaching the rear scraper conveyor, the height danger coefficient is greater than or equal to the height threshold value, and the angle danger coefficient is greater than or equal to the angle threshold value, the top coal caving support and the rear scraper conveyor have a potential collision risk, and the insertion plate is controlled to be retracted; If the movement trend of the tail beam is approaching the rear scraper conveyor, the height danger coefficient is less than or equal to the height threshold value, and the angle danger coefficient is less than the angle threshold value, the top coal caving support and the rear scraper conveyor have a potential collision risk, the swing of the tail beam is controlled to be decelerated, and the insertion plate is controlled to be limited. By combining the movement trend of the tail beam with the threshold values of the height danger coefficient and the angle danger coefficient, the type identification and hierarchical response of the potential collision risk are realized, the corresponding protection means can be accurately matched according to different danger levels, the over-response or insufficient response of a single control mode is avoided, and multi-level safety protection from slow to urgent is formed, which significantly improves the adaptability and control accuracy of the system under complex working conditions.

[0014] In some embodiments of the present application, the collision risk determination step further comprises: If the movement trend of the tail beam is approaching the rear scraper conveyor, the height danger coefficient is greater than or equal to the height threshold value, and the angle danger coefficient is less than the angle threshold value, the top coal caving support and the rear scraper conveyor have a high collision risk, the tail beam is controlled to stop swinging, and the insertion plate is controlled to be retracted until the height danger coefficient is less than the height threshold value or the angle danger coefficient is less than the angle threshold value. By defining the emergency control logic in the high-risk scenario, the tail beam swing is forcibly terminated and the insertion plate is retracted when the height and angle risks are both high, which can quickly cut off the dangerous action under extreme working conditions, and ensure the absolute safety of the system in the critical state by continuous monitoring until the risk is removed, effectively preventing equipment damage and production interruption.

[0015] In some embodiments of the present application, after controlling the actions of the tail beam jack and the insertion plate jack according to the risk level, the stroke length data, the inclination angle data, and the posture information of the rear scraper conveyor are continuously collected, and the pose solving step, the danger coefficient calculation step, and the collision risk determination step are re-executed. The risk level obtained by re-execution and the control action of the tail beam jack and the insertion plate jack are fed back to the human-machine interface and the upper computer.

[0016] By controlling the closed loop and state feedback, the system is continuously optimized and monitored in real time after the data is re-collected and the solving, calculating and determining steps are iteratively performed after the action is performed, so that the anti-collision control has self-adjusting and continuous evolution ability, and through the information feedback of the human-computer interface and the upper computer, a channel is provided for artificial supervision and intervention, and the overall availability and collaborative control level of the system is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, specific embodiments of the present application will be described in detail below with reference to the drawings. Those skilled in the art can obtain other drawings without creative labor on the premise of the drawings. Figure 1 A flow chart of a top coal caving support and rear scraper conveyor anti-collision hierarchical control method provided by the embodiment of the present application; Figure 2 A flow chart of another top coal caving support and rear scraper conveyor anti-collision hierarchical control method provided by the embodiment of the present application; Figure 3 A plan structure diagram of a top coal caving support and rear scraper conveyor provided by the embodiment of the present application; Figure 4 A structure diagram of a top coal caving support and rear scraper conveyor provided by the embodiment of the present application; Figure 5 A plan structure length identification diagram of a top coal caving support and rear scraper conveyor provided by the embodiment of the present application; Figure 6 A structure diagram of a rear scraper conveyor provided by the embodiment of the present application; Figure 7 A plan structure angle identification diagram of a top coal caving support and rear scraper conveyor provided by the embodiment of the present application; Figure 8 A coordinate system establishment schematic diagram of a top coal caving support provided by the embodiment of the present application; Figure 9 A schematic diagram of an anti-interference safe lifting line provided by the embodiment of the present application; Figure 10 A schematic diagram of an angle safety factor provided by the embodiment of the present application; Figure 11 A Figure 10 A local enlarged view at AA. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical scheme and advantages of the present application clearer and more comprehensible, the present application is described and explained below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of the present application. It should be noted that the terms used herein are only intended to describe specific embodiments, and are not intended to limit the exemplary embodiments according to the present application. As used herein, the singular form is intended to include the plural form unless the context clearly indicates otherwise, and furthermore, it should be understood that the terms "comprise" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device comprising a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices. Coal intelligence is the core driving force to promote the high-quality development and sustainable development of the coal industry, and its key goal is to realize the safety guarantee, capacity improvement and efficiency optimization of mining operation.

[0019] As an important part of coal resources, the advanced degree of mining technology of thick coal seam directly affects the overall process of coal intelligence construction.

[0020] At present, the equipment collaborative control technology of fully mechanized caving face has made significant progress, and is gradually entering the stage of deep integration of intelligent perception, autonomous decision-making and precise execution.

[0021] In the collaborative operation of the coal mining machine and the top coal support, the inertial navigation and visual recognition combined positioning technology is adopted to realize the precise matching of the cutting track of the coal mining machine and the moving step distance of the top coal support, and significantly reduce the collision risk between the equipment. In view of the complex working conditions such as uneven hardness of top coal and periodic pressure, the application of multi-modal perception and model prediction collaborative strategy further improves the adaptive regulation and control capability of equipment parameters.

[0022] Existing researches mainly focus on the posture monitoring and intelligent adjustment of single and group top coal supports, the collaborative control of top coal supports and coal mining machines, the dynamic monitoring and regulation of support and surrounding rock coupling system, memory timing caving control and advanced pressure warning, which provides important technical support and practical reference for intelligent mining.

[0023] However, there is still a significant gap in the safe collaborative operation between the top coal support and the rear scraper conveyor.

[0024] In actual production, there is high-frequency dynamic interaction between the tail beam of the top coal caving support and the rear scraper conveyor, and the interference risk has not been systematically solved.

[0025] Therefore, it is urgent to develop a technical solution that can adapt to the dynamic pose change of equipment, realize real-time risk prediction and form a complete safety protection closed loop, so as to effectively solve the dynamic anti-collision problem between the top coal caving hydraulic support and the rear scraper conveyor and ensure the safe and efficient production of the fully mechanized caving face.

[0026] In the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The technical solutions of the present application will be described in detail below in combination with specific embodiments and the accompanying drawings.

[0027] As shown in Figure 1 and Figure 2 , the present application provides a top coal caving support and rear scraper conveyor anti-collision hierarchical control method, comprising the following steps: Data acquisition step S1: acquiring the stroke length data of each jack on the top coal caving support, the inclination angle data of each component on the top coal caving support and the attitude information of the rear scraper conveyor; In some embodiments, as shown in Figure 3 , the components of the top coal caving support include a base, a stand, a front connecting rod, a rear connecting rod, a top beam, a shield beam and a coal releasing mechanism, and each component is linked together through a pin shaft; wherein the coal releasing mechanism includes a tail beam and a plug plate; As shown in Figure 4 , the structure of the top coal caving support is simplified as a planar structure for kinematic analysis; Wherein, R point is the hinge point of the upright column on the base of the top coal caving support, A point is the intersection point of a straight line perpendicular to the base passing through R point and the vertical projection of the base; G point is the hinge point of the front connecting rod on the base of the top coal caving support, B point is the intersection point of a straight line perpendicular to the base passing through G point and the vertical projection of the base; D point is the hinge point of the rear connecting rod on the base of the top coal caving support, C point is the intersection point of a straight line perpendicular to the base passing through D point and the vertical projection of the base; E point is the hinge point of the rear connecting rod of the top coal caving support and the shield beam, H point is the intersection point of a straight line perpendicular to the shield beam passing through E point and the vertical projection of the shield beam; F point is the hinge point of the front connecting rod of the top coal caving support and the shield beam, I point is the intersection point of a straight line perpendicular to the shield beam passing through F point and the vertical projection of the shield beam; L point is one side end point of the balance jack of the top coal caving support, M point is the intersection point of a straight line perpendicular to the roof beam passing through L point and the vertical projection of the roof beam; J point is the intersection point of a straight line perpendicular to the shield beam passing through the other side end point of the balance jack of the top coal caving support and the vertical projection of the roof beam; O point is the hinge point of the shield beam and the roof beam of the top coal caving support, N point is the intersection point of a straight line perpendicular to the roof beam passing through O point and the vertical projection of the roof beam; Q point is the hinge point of the upright column and the roof beam of the top coal caving support, P point is the intersection point of a straight line perpendicular to the roof beam passing through Q point and the vertical projection of the roof beam; T point is one side end point of the tail beam jack of the top coal caving support, S point is the intersection point of a straight line perpendicular to the shield beam passing through T point and the vertical projection of the shield beam; U point is the other side end point of the tail beam jack of the top coal caving support, V point is the intersection point of a straight line perpendicular to the tail beam passing through U point and the vertical projection of the tail beam; W point is the hinge point of the shield beam and the tail beam of the top coal caving support.

[0028] In combination Figures 4 to 6 As shown in the figure, the distance between A point and B point is ; the distance between A point and R point is ; the distance between Q point and R point is , that is, the original length of the upright column jack is , and the extension length is ; the distance between P point and Q point is ; the distance between P point and M point is ; the distance between M point and N point is ; the distance between M point and L point is ; the distance between N point and O point is ; the original length of the balance jack is , and the extension length is ; the distance between O point and J point is ; the distance between the other side end point of the balance jack and J point is ; the distance between J point and I point is The distance between point I and point H is The distance between point I and point F is The distance between point H and point E is The distance between point F and point G is The distance between point E and point D is The distance between point G and point B is The distance between point D and point C is The distance between point B and point C is The distance between point H and point S is The distance between point S and point W is The distance between point W and point V is The distance between point V and point U is The distance between point T and point U is The original length of the tail beam jack is , and the extension length is ; Draw a straight line perpendicular to the tail beam through one side end point of the plug-in jack, and the distance between the intersection point of the straight line and the vertical projection of the tail beam and point V is ; draw a straight line perpendicular to the tail beam through the other side end point of the plug-in jack, and the distance between the intersection point of the straight line and the vertical projection of the tail beam and the end of the plug-in is The distance between point W and point T is The distance between point W and point U is The distance between point O and point L is The distance between point O and the other side end point of the balance jack is The distance between point S and point T is The original length of the plug-in jack is , and the extension length is The original length of the push jack is , and the extension length of the push jack is The height of the upper surface of the rear scraper conveyor from the plane where the origin of the world coordinate system is located is The width of the rear scraper conveyor is The length of the thick scraper conveyor is .

[0029] As shown in Figure 7 , the angle between the top beam of the top coal caving support and the horizontal direction is set to ; the angle between the column of the top coal caving support and the horizontal direction is set to ; the angle between the rear connecting rod of the top coal caving support and the horizontal direction is set to ; the angle between the front connecting rod of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to ; the angle between the tail beam of the top coal caving support and the horizontal direction is set to .

[0030] The pose solving step S2: taking the center point on the base of the top coal caving support as the coordinate origin, establishing a right-hand Cartesian coordinate system as the world coordinate system, based on the stroke length data, the inclination data and the attitude information, solving the spatial coordinates of the hinged point of the tail beam and the tail beam of the top coal caving support, the end point of the tail plate end of the top coal caving support and the vertex of the rear scraper conveyor in the world coordinate system; Further, as shown in Figure 8 , taking the center point on the base of the top coal caving support as the coordinate origin, establishing a right-hand Cartesian coordinate system as the world coordinate system, the y-axis is along the horizontal direction, the z-axis is along the vertical direction upward, and the x-axis is determined according to the right-hand rule, pointing horizontally along the width direction of the top coal caving support; , taking the center point on the base of the top coal caving support as the coordinate origin, establishing a right-hand Cartesian coordinate system , wherein the x-axis is along the width direction of the base of the top coal caving support, the y-axis is along the length direction of the top coal caving support, and the z-axis is perpendicular to the base of the top coal caving support and points to the direction of the top beam of the top coal caving support; a motion rectangular coordinate system is established at point E , wherein the y-axis is along the EH length direction, pointing to the shield beam, the x-axis is parallel to the y-axis direction in the center coordinate system , and the z-axis is parallel to the shield beam and points to the hinged point of the shield beam and the tail beam; a motion rectangular coordinate system is established at point W , wherein the y-axis is always along the length direction of the tail beam of the top coal caving support, the x-axis is parallel to the y-axis direction in the center coordinate system , and the z-axis is always perpendicular to the tail beam of the top coal caving support and points to the direction of the top beam.

[0031] In some embodiments, the pose solving step S2 comprises: Based on the geometric constraint relationship of each component of the top coal caving support on the support, a top coal caving support perception model is constructed by a complex vector method and a D-H parameter method, the stroke length data, the inclination data and the attitude information are input into the top coal caving support perception model, and the spatial coordinates of the hinged points of the shield beam and the tail beam, the inner side end point of the end of the plug plate, the outer side end point of the end of the plug plate and the four vertices of the rear scraper conveyor in the world coordinate system are calculated through coordinate transformation. By introducing the complex vector method and the D-H parameter method to construct the top coal caving support perception model, the precise spatial coordinate calculation of the hinged points of the shield beam, the inner and outer side end points of the end of the plug plate and the vertices of the scraper conveyor is realized, the multi-source sensor data is fused into the pose information in the unified world coordinate system by using the geometric constraint relationship and the coordinate transformation, and a high-precision geometric basis is provided for subsequent collision risk calculation, so that the reliability and dynamic adaptability of the anti-collision system are significantly improved.

[0032] In some embodiments, the pose calculation step S2 further comprises: Based on the complex vector method, a closed-loop vector equation containing each component of the top coal caving support is constructed, and the closed-loop vector equation is solved to obtain the spatial coordinates of the hinged points of the shield beam and the tail beam in the world coordinate system based on the stroke length data and the inclination data; Based on the D-H parameter method, a coordinate system transformation chain of the top coal caving support is established, and the spatial coordinates of the inner side end point of the end of the plug plate and the outer side end point of the end of the plug plate in the world coordinate system are obtained based on the coordinate system transformation chain; Based on the attitude information of the rear scraper conveyor, the spatial coordinates of the four vertices of the rear scraper conveyor in the world coordinate system are calculated through coordinate rotation and translation transformation. The hinged point coordinates are obtained by solving the closed-loop vector equation based on the complex vector method, the plug plate end coordinates are derived based on the coordinate system transformation chain established by the D-H parameter method, and the vertex positions of the rear scraper conveyor are calculated based on the attitude information of the rear scraper conveyor through coordinate rotation and translation, which enhances the analytical ability and calculation efficiency of the model, ensures that the spatial relationship of the key points can be quickly and accurately output under different working conditions, and provides stable data support for real-time anti-collision decision.

[0033] Further, considering that when the top coal caving support is working, the elastic deformation of the components other than the hydraulic cylinder is very small, these components are regarded as rigid bodies.

[0034] According to the geometric constraint relationship, closed-loop vector equations are established in the vector rings ARQPMNOJIFGB, BGFIHEDC and LOK, and a mathematical model for inversely calculating the attitude of the top coal caving support through the stroke of the oil cylinder is established after separating the virtual and real parts of the vector equations.

[0035]

[0036]

[0037]

[0038]

[0039] Set the inner end point of the insert plate to The outer end of the insert plate is set as In the central coordinate system Solving for the hinge point between the connecting rod and the shield beam The coordinates of a point are calculated using the following model:

[0040] In the moving rectangular coordinate system The coordinates of the hinge point W between the tail beam and the shield beam are determined using the following calculation model:

[0041] In the moving rectangular coordinate system Solving endpoints and endpoints The coordinates of are calculated using the following model:

[0042]

[0043] in, As endpoints In the moving rectangular coordinate system The x-axis coordinates below; As endpoints In the moving rectangular coordinate system The y-axis coordinate below; As endpoints In the moving rectangular coordinate system z-axis coordinates below; As endpoints In the moving rectangular coordinate system The x-axis coordinates below; As endpoints In the moving rectangular coordinate system The y-axis coordinate below; As endpoints In the moving rectangular coordinate system z-axis coordinates below; Obtained through motion analysis and The size of is obtained using trigonometric functions. , The magnitude can be obtained using the Law of Cosines. The size of the corresponding calculation model is:

[0044]

[0045] The rotation matrix of the moving coordinate system around the center coordinate system The size of the corresponding calculation model is:

[0046] The rotation matrix of the moving coordinate system around the center coordinate system The size of the corresponding calculation model is:

[0047] Where, The angle between the tail beam and the horizontal direction; The rotation matrix of the moving coordinate system around the center coordinate system The size of the corresponding calculation model is:

[0048]

[0049]

[0050]

[0051]

[0052]

[0053]

[0054]

[0055] According to the coordinates of point E in the center coordinate system The translation vector of the moving coordinate system to the world coordinate system The size of the corresponding calculation model is:

[0056] The coordinates of point W in the world coordinate system

[0057] ​​​​​​​​​Based on the world coordinate system, point W... The coordinates of the motion coordinate system are obtained. To the central coordinate system Translation vector for:

[0058] Calculate endpoints In the central coordinate system The coordinates below are:

[0059]

[0060]

[0061] Calculate endpoints In the central coordinate system The coordinates below are:

[0062]

[0063]

[0064] endpoint In the central coordinate system Coordinate transformation from the previous coordinate system to the world coordinate system The coordinates below are:

[0065]

[0066]

[0067]

[0068]

[0069]

[0070]

[0071]

[0072]

[0073]

[0074]

[0075]

[0076]

[0077]

[0078] endpoint In the central coordinate system Coordinate transformation from the previous coordinate system to the world coordinate system The coordinates below are:

[0079]

[0080]

[0081]

[0082]

[0083]

[0084] Set the four fixed points of the rear scraper conveyor as Establish a motion coordinate system at the center of the rear scraper conveyor. ,calculate The four vertices in the coordinate system The following coordinates:

[0085]

[0086] Calculate the motion coordinate system Around the world coordinate system rotation matrix Its calculation model is as follows:

[0087]

[0088]

[0089]

[0090]

[0091]

[0092]

[0093]

[0094] The motion coordinate system is obtained according to the geometric relationship between the center point of the rear scraper conveyor and the world coordinate system The translation vector of the center coordinate system to the world coordinate system is:

[0095] Through coordinate transformation, the coordinates of the four vertices in the world coordinate system are solved; wherein, the coordinates of the point in the world coordinate system are calculated as:

[0096]

[0097]

[0098]

[0099] The coordinates of the point in the world coordinate system are calculated as:

[0100]

[0101]

[0102] The coordinates of the point in the world coordinate system are calculated as:

[0103]

[0104]

[0105] The coordinates of the point in the world coordinate system are calculated as:

[0106]

[0107]

[0108]

[0109] ​​​​​​​​​​​

[0110]

[0111] The risk coefficient calculation step S3: setting an anti-interference safety lifting line at a preset height above the rear scraper conveyor, calculating the vertical distance between the end of the plug plate and the anti-interference safety lifting line based on the spatial coordinates of the end point of the end of the plug plate and the vertex of the rear scraper conveyor, and calculating the risk coefficient based on the vertical distance, the spatial coordinates of the hinge point, and the inclination angle data of the tail beam; In some embodiments, the risk coefficient includes a height risk coefficient and an angle risk coefficient; The risk coefficient calculation step S3 includes: The anti-interference safety lifting line and the rear scraper conveyor form a cuboid enclosing box, and the spatial coordinates of the four vertices of the upper surface of the cuboid enclosing box in the world coordinate system are calculated based on the spatial coordinates of the four vertices of the rear scraper conveyor in the world coordinate system; The minimum value of the z-axis coordinates of the inside end point of the end of the plug plate and the outside end point of the end of the plug plate in the world coordinate system is selected as the first point; The maximum value of the z-axis coordinates of the four vertices of the upper surface of the cuboid enclosing box in the world coordinate system is selected as the second point; The vertical distance between the end of the plug plate and the anti-interference safety lifting line is calculated according to the difference between the first point and the second point; If the top coal caving support and the rear scraper conveyor do not change the attitude angle, the tail beam and the shield beam are in the same straight line, and the plug plate is completely retracted, the height difference between the end of the plug plate and the anti-interference safety lifting line is calculated; The height risk coefficient is calculated based on the vertical distance and the height difference. By defining the calculation method of the height risk coefficient, the vertical distance between the lowest point of the end of the plug plate and the highest point of the cuboid enclosing box is compared, and the initial height difference under ideal working conditions is introduced as a reference, the relative position relationship between the plug plate and the safety lifting line is dynamically quantified, the collision risk change in the height direction is accurately reflected, the system has early identification ability for potential interference problems, and key judgment basis is provided for the hierarchical control strategy.

[0112] In some embodiments, the risk coefficient calculation step S3 further includes: When the vertical distance is 0, the tail beam of the top coal caving support collides with the rear scraper conveyor, and the maximum swing angle of the tail beam at this time is calculated; The angle risk coefficient is calculated according to the difference between the maximum swing angle of the tail beam and the real-time angle of the tail beam of the top coal caving support during operation. The angle danger coefficient is defined by calculating the difference between the maximum value of the tail beam swing angle and the real-time angle, quantifying the safe swing margin of the tail beam under the fixed length of the insertion plate, which can effectively evaluate the angle direction risk of the tail beam during the approach to the scraper conveyor, make up for the deficiency of single height coefficient judgment, make the system comprehensively judge the collision risk from the vertical and rotational dimensions, and improve the comprehensiveness and accuracy of control.

[0113] Further, the z-axis coordinates of the inner and outer end points of the insertion plate end of the top coal caving support in the world coordinate system are compared, and the point with the smaller coordinate value is taken as the first point .

[0114] As shown in Figure 9 , a anti-interference safety lifting line is arranged above the rear scraper conveyor to improve the fault tolerance and anti-interference performance of the system. The anti-interference safety lifting line is a virtual safety line arranged to cope with the posture errors such as deflection, pitch or inclination of the rear scraper conveyor and the top coal caving support in actual working conditions, and to improve the fault tolerance and anti-interference performance of the system. The anti-interference safety lifting line is located above the rear scraper conveyor , and when the rear scraper conveyor changes its posture, the anti-interference safety lifting line will rotate synchronously with it, forming a safety boundary associated with the dynamic of the equipment.

[0115] The rear scraper conveyor and the anti-interference safety lifting line are regarded as a unified cuboid bounding box, and the z-axis coordinates of the four vertices of the upper surface of the cuboid bounding box are calculated, and the highest value is taken as the second point , which accurately quantifies the relative position relationship between the insertion plate end and the safety area, and provides a geometric reference for anti-collision judgment.

[0116] The calculation model of the z-axis coordinates of the four vertices of the upper surface of the cuboid bounding box is:

[0117]

[0118]

[0119]

[0120] wherein, , , , are the four vertices of the upper surface of the cuboid bounding box, , , , are the z-axis coordinates of the four vertices of the upper surface of the cuboid bounding box. The vertical distance between the end of the plug and the anti-interference safe lifting line is calculated according to the difference between the first point and the second point , and the calculation model is

[0121] Under ideal working conditions, if the posture angle of the top coal caving support and the rear scraper conveyor does not change, the tail beam and the shield beam are arranged on the same line, and the plug is completely retracted, the height difference between the end of the plug and the cuboid surrounding box is , at this time , is the initial state, and the height danger coefficient is , and the calculation model is

[0122] The height danger coefficient in the initial state is , when , the height danger coefficient is , and the height difference is , and the calculation model is

[0123] In a coal releasing action period, the movement of the tail beam can be divided into two categories, the first category is the process that the tail beam jack extends to make the tail beam of the hydraulic support away from the scraper conveyor, and the second category is the process that the tail beam jack retracts to make the tail beam of the hydraulic support close to the scraper conveyor. When the tail beam is away, the swingable stroke of the tail beam is large, at this time, the influence of the height difference can be considered when calculating the overall danger coefficient, but if the tail beam moves close, only considering the influence of the height danger coefficient is not rigorous enough, therefore, the calculation of the angle danger coefficient is introduced to measure the swing angle margin of the tail beam that does not collide under the current plug extension length.

[0124] As shown in Figure 10 and Figure 11 , when the plug extension length of the top coal caving support is fixed, the swing angle of the tail beam of the top coal caving support when colliding with the rear scraper conveyor is calculated. When , the tail beam of the top coal caving support will interfere with the rear scraper conveyor, that is, when is calculated, the value of ; ; If the misunderstanding occurs, it means that no matter how much the tail beam swings, no collision will occur under the current state; When the plug extension length is fixed, the tail beam safety angle margin is taken as the angle danger coefficient, and the calculation model of the angle danger coefficient is

[0125] wherein, is the real-time angle of the tail beam during the operation of the top coal caving support.

[0126] The collision risk determination step S4 comprises: calculating a tail beam jack change rate according to the stroke length data of the tail beam jack, determining a movement trend of the tail beam based on the tail beam jack change rate, determining a risk level based on a comparison result of the movement trend of the tail beam, the danger coefficient and the threshold value, and controlling the actions of the tail beam jack and the platen jack according to the risk level. By combining spatial coordinate solving and multi-dimensional risk quantification, real-time monitoring and risk assessment of the movement state of the tail beam and the platen are realized, the control strategy can be adaptively adjusted according to the movement trend of the equipment and the danger coefficient, so as to give an early warning and active intervention under complex working conditions, effectively avoid the collision between the support and the scraper conveyor, and improve the safety and continuity of the production of the fully mechanized caving face.

[0127] In some embodiments, the collision risk determination step S4 further comprises: If the tail beam jack change rate is less than 0, the movement trend of the tail beam is to approach the rear scraper conveyor. If the tail beam jack change rate is greater than 0, the movement trend of the tail beam is to move away from the rear scraper conveyor. By analyzing the positive and negative of the tail beam jack change rate to determine the movement trend of the tail beam approaching or moving away, the movement state of the equipment is included in the risk determination logic, which can distinguish different scenarios of active approach and passive movement away, so as to take differentiated control strategies under the same position relationship, and enhance the intelligent response ability and decision rationality of the system to dynamic working conditions.

[0128] In some embodiments, the collision risk determination step S4 further comprises: If the movement trend of the tail beam is to move away from the rear scraper conveyor and the height danger coefficient is less than the height threshold value, the top coal caving support and the rear scraper conveyor have no collision risk, and normal operation is maintained. If the movement trend of the tail beam is to approach the rear scraper conveyor, the height danger coefficient is less than the height threshold value, and the angle danger coefficient is greater than the angle threshold value, the top coal caving support and the rear scraper conveyor have no collision risk, and normal operation is maintained. By setting the determination condition for the tail beam moving away trend, the equipment is maintained to operate when the height danger coefficient does not exceed the threshold value or the angle danger coefficient still has a margin, unnecessary intervention is avoided when the risk actually decreases, the continuity and efficiency of the coal drawing operation are guaranteed, the production optimization orientation of the system under the safety premise is reflected, and the balance between safety and efficiency is realized.

[0129] In some embodiments, the collision risk determination step S4 further comprises: If the tail beam's movement trend is towards the rear scraper conveyor, the height hazard factor is greater than or equal to the height threshold, and the angle hazard factor is greater than or equal to the angle threshold, then there is a potential collision risk between the top coal caving support and the rear scraper conveyor, and the insert plate should be retracted. If the tail beam's movement trend is towards the rear scraper conveyor, the height hazard factor is less than or equal to the height threshold, and the angle hazard factor is less than the angle threshold, then there is a potential collision risk between the top coal caving support and the rear scraper conveyor. In this case, the tail beam's swing should be controlled to decelerate, and the insertion plate's movement should be restricted. By combining the tail beam movement trend with thresholds for height and angle hazard factors, the system can identify and classify potential collision risks. It can accurately match appropriate protective measures for different levels of hazard, avoiding over-response or under-response of a single control method, and forming a multi-level safety guarantee from slow to fast, which significantly improves the system's adaptability and control accuracy under complex working conditions.

[0130] In some embodiments, the collision risk determination step S4 further includes: If the tail beam's movement trend is towards the rear scraper conveyor, the height hazard factor is greater than or equal to the height threshold, and the angle hazard factor is less than the angle threshold, then there is a high risk of collision between the top coal caving support and the rear scraper conveyor. Control the tail beam to stop swinging and control the insert plate to retract until the height hazard factor is less than the height threshold or the angle hazard factor is less than the angle threshold. By defining emergency control logic for high-risk scenarios, the tail beam swing can be forcibly terminated and the insert plate retracted when both the height and angle risks are high. This can quickly cut off dangerous actions under extreme conditions and ensure the absolute safety of the system in critical states through continuous monitoring until the risk is eliminated, effectively preventing equipment damage and production interruption.

[0131] Furthermore, the stroke variation rate of the tail beam jack was analyzed. ,in for Tail beam jack travel time and Tail beam jack travel time The difference, If the tail beam jack stroke variation rate If the tail beam's movement trend is determined to be closer to the rear scraper conveyor; if the tail beam jack stroke change rate... If so, the movement trend of the tail beam is determined to be moving away from the rear scraper conveyor.

[0132] Preset angle threshold and height threshold ; wherein the angle threshold and the height threshold can be flexibly configured and optimized by the upper computer according to the specific working face conditions such as the coal seam thickness, the inclination angle, and the equipment model; The height danger coefficient and the angle danger coefficient calculated in real time are compared with the preset angle threshold and the height threshold, and the risk level is comprehensively determined in combination with the motion trend; If the motion trend of the tail beam is away from the rear scraper conveyor, and , it indicates that the current equipment state is safe, and the top coal support and the rear scraper conveyor have no collision risk, and the equipment is maintained in normal operation. If the motion trend of the tail beam is close to the rear scraper conveyor, and , , it indicates that the current equipment state is safe, and the top coal support and the rear scraper conveyor have no collision risk, and the equipment is maintained in normal operation. If the motion trend of the tail beam is close to the rear scraper conveyor, and , , the top coal support and the rear scraper conveyor have a potential collision risk, the insertion plate is controlled to be retracted through the insertion plate retraction instruction to complete the anti-collision control. If the motion trend of the tail beam is close to the rear scraper conveyor, and , , the top coal support and the rear scraper conveyor have a potential collision risk, the swing of the tail beam is controlled to be slowed down, and the insertion plate is limited to move. If the motion trend of the tail beam is close to the rear scraper conveyor, and , , the top coal support and the rear scraper conveyor have a high collision risk, the tail beam is immediately controlled to stop swinging, the insertion plate retraction program is started, and the insertion plate is controlled to be retracted until the height danger coefficient is less than the height threshold or the angle danger coefficient is less than the angle threshold.

[0133] In some embodiments, after the motion of the tail beam jack and the insertion plate jack is controlled according to the risk level, the stroke length data, the inclination angle data, and the posture information of the rear scraper conveyor are continuously collected, and the pose solving step S2, the danger coefficient calculation step S3, and the collision risk determination step S4 are re-executed. The re-obtained risk level and the control action of the tail beam jack and the insertion plate jack are fed back to the human-machine interface and the upper computer.

[0134] By controlling the closed loop and state feedback, the system is continuously optimized and monitored in real time after the action is performed, so that the anti-collision control has the ability of self-adjustment and continuous evolution, and through the information feedback of the man-machine interface and the upper computer, the channel for manual supervision and intervention is provided, and the overall availability and collaborative control level of the system are enhanced.

[0135] Further, after performing the action of controlling the tail beam jack and the plug-in jack, the sensor data is continuously monitored, the pose is recalculated, the risk coefficient is calculated, the motion trend and the risk level are determined, and according to the new risk level, a closed loop control strategy is formed; The current risk level and the executed control action are fed back to the man-machine interface and the upper computer in real time for the operator to monitor and manually intervene if necessary, and the operator can issue an instruction to override the automatic control at any time through the man-machine interface or the remote controller, and the manual instruction has the highest priority.

[0136] It should be noted that the above is a reference mode of the said caving coal support and rear scraper conveyor anti-collision hierarchical control method, and the present application is not limited thereto.

[0137] The embodiments of the present application realize real-time monitoring and risk assessment of the motion state of the tail beam and the plug-in plate, can adaptively adjust the control strategy according to the device motion trend and the risk coefficient, thereby early warning and actively intervening in complex working conditions, effectively avoiding the collision between the support and the scraper conveyor, improving the safety and continuity of the fully mechanized caving face production, and solving the technical problems that the prior art lacks real-time prediction and active protection ability for the dynamic collision between the support tail beam and the scraper conveyor, and is difficult to form a safe control closed loop.

[0138] Finally, it should be noted that: the embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts of each embodiment can be referred to. The above embodiments are only used to illustrate the technical solutions of the present application and not to limit them; although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the specific embodiments of the present application can be modified or some technical features can be replaced by equivalent ones; without departing from the spirit of the technical solutions of the present application, they should be covered in the technical solution range of the present application.

Claims

1. A kind of caving coal support and rear apron conveyor anti-collision grading control method, it is characterized in that, The method comprises the following steps: a data acquisition step: acquiring stroke length data of each jack of the top coal caving support, inclination data of each component of the top coal caving support, and attitude information of the rear scraper conveyor; a pose solving step: taking a center point on a base of the top coal caving support as a coordinate origin, establishing a right-hand Cartesian coordinate system as a world coordinate system, and solving spatial coordinates of a hinged point of a shield beam and a tail beam of the top coal caving support, an end point of a tailgate end, and a vertex of the rear scraper conveyor in the world coordinate system based on the stroke length data, the inclination data, and the attitude information; a dangerous coefficient calculation step: setting an anti-interference safe lifting line at a preset height above the rear scraper conveyor, calculating a vertical distance between the tailgate end and the anti-interference safe lifting line based on the spatial coordinates of the end point of the tailgate end and the vertex of the rear scraper conveyor, and combining the spatial coordinates of the hinged point and the inclination data of the tail beam to calculate a dangerous coefficient; a collision risk determination step: calculating a tail beam jack change rate according to the stroke length data of the tail beam jack, determining a movement trend of the tail beam based on the tail beam jack change rate, determining a risk level based on a comparison result of the movement trend of the tail beam, the dangerous coefficient, and a threshold value, and controlling actions of the tail beam jack and the tailgate jack according to the risk level.

2. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 1, characterized in that, The pose solving step comprises: based on geometric constraint relationships of each component of the top coal caving support, constructing a top coal caving support perception model through a complex vector method and a D-H parameter method, inputting the stroke length data, the inclination data, and the attitude information into the top coal caving support perception model, and solving spatial coordinates of the hinged point of the shield beam and the tail beam, an inner side end point of the tailgate end, an outer side end point of the tailgate end, and four vertices of the rear scraper conveyor in the world coordinate system through coordinate transformation.

3. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 2, characterized in that, The pose solving step further comprises: based on the complex vector method, constructing a closed-loop vector equation containing each component of the top coal caving support, combining the stroke length data and the inclination data, and solving the closed-loop vector equation to obtain spatial coordinates of the hinged point of the shield beam and the tail beam in the world coordinate system; based on the D-H parameter method, establishing a coordinate system transformation chain of the top coal caving support, and obtaining spatial coordinates of the inner side end point of the tailgate end and the outer side end point of the tailgate end in the world coordinate system based on the coordinate system transformation chain; based on the attitude information of the rear scraper conveyor, solving spatial coordinates of the four vertices of the rear scraper conveyor in the world coordinate system through coordinate rotation and translation transformation.

4. The caving support and rear scraper conveyor anti-collision hierarchical control method according to claim 3, characterized in that, The dangerous coefficient comprises a height dangerous coefficient and an angle dangerous coefficient. The dangerous coefficient calculation step comprises: the anti-interference safe lifting line and the rear scraper conveyor form a cuboid enclosing box, spatial coordinates of four vertices of an upper surface of the cuboid enclosing box in the world coordinate system are calculated based on spatial coordinates of the four vertices of the rear scraper conveyor in the world coordinate system; and selecting a minimum value of a z-axis coordinate of an inner side end point of the plug end and a z-axis coordinate of an outer side end point of the plug end in the world coordinate system as a first point position; selecting a maximum value of a z-axis coordinate of four vertices of an upper surface of the cuboid bounding box as a second point position; calculating a vertical distance between the plug end and the anti-interference safe lifting line according to a difference between the first point position and the second point position; if the top coal caving support and the rear scraper conveyor do not change in attitude angle, the tail beam and the shield beam are in the same straight line, and the plug of the top coal caving support is completely retracted, calculating a height difference between the plug end and the anti-interference safe lifting line; calculating the height danger coefficient based on the vertical distance and the height difference.

5. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 4, characterized in that, The danger coefficient calculation step further comprises: when the vertical distance is 0, the tail beam of the top coal caving support collides with the rear scraper conveyor, and calculating a maximum value of a swing angle of the tail beam; calculating the angle danger coefficient according to a difference between the maximum value of the swing angle of the tail beam and a real-time angle of the tail beam of the top coal caving support in the running process.

6. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 5, characterized in that, The collision risk determination step further comprises: if the tail beam jack change rate is less than 0, the movement trend of the tail beam is to approach the rear scraper conveyor; if the tail beam jack change rate is greater than 0, the movement trend of the tail beam is to move away from the rear scraper conveyor.

7. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 6, characterized in that, The collision risk determination step further comprises: if the movement trend of the tail beam is to move away from the rear scraper conveyor, and the height danger coefficient is less than a height threshold value, the top coal caving support and the rear scraper conveyor have no collision risk, and normal operation is maintained; if the movement trend of the tail beam is to approach the rear scraper conveyor, the height danger coefficient is less than the height threshold value, and the angle danger coefficient is greater than an angle threshold value, the top coal caving support and the rear scraper conveyor have no collision risk, and normal operation is maintained.

8. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 7, characterized in that, The collision risk determination step further comprises: if the movement trend of the tail beam is to approach the rear scraper conveyor, the height danger coefficient is greater than or equal to the height threshold value, and the angle danger coefficient is greater than or equal to the angle threshold value, the top coal caving support and the rear scraper conveyor have a potential collision risk, and the plug is controlled to be retracted; if the movement trend of the tail beam is to approach the rear scraper conveyor, the height danger coefficient is less than or equal to the height threshold value, and the angle danger coefficient is less than the angle threshold value, the top coal caving support and the rear scraper conveyor have a potential collision risk, the swing of the tail beam is controlled to be decelerated, and the plug is controlled to be moved.

9. The caving support and rear flight conveyor anti-collision hierarchical control method according to claim 7, characterized in that, The collision risk determination step further comprises: If the movement trend of the tail beam is close to the rear scraper conveyor, the height danger coefficient is greater than or equal to the height threshold value, and the angle danger coefficient is less than the angle threshold value, the high collision risk exists between the coal caving support and the rear scraper conveyor, the tail beam is controlled to stop swinging, and the insertion plate is controlled to be retracted until the height danger coefficient is less than the height threshold value or the angle danger coefficient is less than the angle threshold value.

10. The caving support and rear flight conveyor anti-collision hierarchical control method according to any one of claims 1-9, characterized in that, After the action of the tail beam jack and the insertion plate jack is controlled according to the risk level, the stroke length data, the inclination angle data and the attitude information of the rear scraper conveyor are continuously collected, and the pose solving step, the danger coefficient calculating step and the collision risk determining step are re-executed, and the re-derived risk level is fed back to the human-machine interface and the upper computer with the control action of the tail beam jack and the insertion plate jack.

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