Support center distance intelligent system for steeply inclined coal seam

Abstract

This invention discloses an intelligent system for center distance of supports in steeply inclined coal seams, relating to the field of measurement technology. The system includes: an equipment unit: a mining mechanism equipped with support subunits, which transmits initial attitude parameters to a measurement unit and receives calibration center distance from a calculation unit; a measurement unit: receiving the initial attitude parameters, measuring and acquiring the initial center distance, the dip angle of the acquisition layer, and the uniaxial compressive strength of the rock mass, and transmitting these to the calculation unit; and a calculation unit: constructing a calibration calculation model and calculating the calibration center distance to update the equipment attitude. Compared with existing technologies, this invention introduces the dip angle of the acquisition layer and the uniaxial compressive strength of the rock mass during the hydraulic support center distance correction process, constructing a closed-loop calibration mechanism. This allows the center distance to be output by the calibration calculation model and then fed back for execution, significantly improving the accuracy of hydraulic support center distance correction in uphill areas.

Description

Technical Field

[0001] This invention relates to the field of measurement technology, and more specifically to an intelligent system for the center distance of supports in steeply inclined coal seams. Background Technology

[0002] In the mining of steeply inclined coal seams, the accuracy of roadway layout during the mining area preparation stage is fundamental to ensuring the safety and efficiency of subsequent mining operations. In coal mine preparation, the precise placement of the uphill holes in steeply inclined coal seams forms the backbone of the production system, and their spacing directly affects mining efficiency, roadway stability, and disaster prevention effectiveness. Existing standard processes typically determine and optimize the spacing of hydraulic supports for the uphill holes indirectly by measuring and controlling the "center-to-center distance" between adjacent roadways, thereby dividing mining units, planning ventilation paths, and assessing regional stress distribution.

[0003] In the uphill area of ​​steeply inclined coal seams, the coordinated response of the scraper conveyor, coal mining machine, and hydraulic supports exhibits a natural lag. The control system cannot dynamically calibrate based on reliable hydraulic support center distance measurement data, leading to delayed or excessive straightening actions, and the center distance deviation even shows a cumulative amplification trend. Because the scraper conveyor trajectory in the uphill area has a zigzag transition shape, the coal mining machine's traction posture is significantly affected by the gravity component, and the arrangement of the hydraulic supports also has large geometric deviations, resulting in strong randomness and significant dynamic changes in the working face center distance. Conventional mine surveying techniques typically base data processing models on horizontal or near-horizontal assumptions. In steeply inclined coal seams, especially those with large dips, strong folds, dramatic thickness variations, and undulating floor conditions are common. The dip angle of the collected layer affects the accuracy of pressure and displacement sensor data, causing the automatic adjustment of supports in conventional coal seams to malfunction. This results in a significant deviation between the calculated hydraulic support center distance based on conventional models and the actual working conditions, making it difficult to effectively compensate for and adjust the measured center distance, thus reducing the safety of coal mining in steeply inclined coal seams. Summary of the Invention

[0004] This invention provides an intelligent system for the center distance of supports in steeply inclined coal seams, which solves the problem that existing technologies are not effective in correcting deviations in the center distance of hydraulic supports during mining in steeply inclined coal seam areas.

[0005] This invention is achieved through the following technical solution:

[0006] A smart system for center-to-center distance of supports in steeply inclined coal seams, the system comprising:

[0007] Equipment unit: It is equipped with an actuator including a support subunit. The actuator is equipped with a communication module and an attitude sensing module. The communication module is used to transmit the initial attitude parameters of the actuator collected by the attitude sensing module to the measurement unit. The calibration center distance is received from the calculation unit and the calibration center distance is used to update the equipment attitude of the actuator.

[0008] Measurement Unit: When the actuator operates using the initial attitude parameters, it measures and obtains the initial center distance of the hydraulic support in the support subunit, and measures and obtains the dip angle value of the acquisition layer and the uniaxial compressive strength value of the rock mass in the target steeply inclined layer, and transmits the initial center distance, dip angle value of the acquisition layer and compressive strength value to the calculation unit;

[0009] Calculation unit: Receives the initial center distance, acquisition layer tilt angle, and compressive strength value from the measurement unit, constructs a calibration calculation model based on the initial center distance, acquisition layer tilt angle, and compressive strength value, calculates the calibration center distance using the calibration calculation model, and transmits the calibration center distance to the device unit to update the device attitude of all attitude sensing modules.

[0010] Furthermore, the actuator also includes a scraper conveyor subunit and a coal mining machine subunit; the process of updating the device attitude of the actuator using the calibration center distance is set as follows: a calibration attitude parameter is defined for the scraper conveyor subunit, the coal mining machine subunit and the support subunit in the actuator, wherein the calibration attitude parameter represents a variable that is updated numerically from the initial attitude parameter;

[0011] The calibration center distance is used to reverse-engineer the parameter deviation that needs to be changed for each initial attitude parameter when updating the initial center distance to the calibration center distance. Each parameter deviation is added to the corresponding initial attitude parameter to obtain the calibration attitude parameter, thereby completing the device attitude update of the actuator.

[0012] Furthermore, the calculation process for the parameter deviation is set as follows:

[0013] Let the initial center distance be denoted as D0, and the calibration center distance as Dc. Then, the center distance deviation is represented as ΔD = |Dc - D0|. Let the initial attitude parameter be denoted as p0, and the calibration attitude parameter as p. Let the set of calibration attitude parameters be denoted as P = {p1, p2, ..., pn}. For each calibration attitude parameter, assign an attitude parameter weight and represent it as ω. Let the ordinal number in the set of calibration attitude parameters be denoted as i, and the parameter deviation of the calibration attitude parameter be represented as Δp.

[0014] The formula for calculating the parameter deviation of the i-th calibration attitude parameter is as follows: ,

[0015] The formula for calculating the i-th calibration attitude parameter is: pi = Δpi + p0i;

[0016] Wherein, p0i represents the initial center parameter of the correction corresponding to the i-th calibrated attitude parameter; j represents the independent ordinal number of the attitude parameter weight; ωi represents the attitude parameter weight of the i-th calibrated attitude parameter, and ωj represents any one of the attitude parameter weight terms.

[0017] Furthermore, the attitude parameter weights are set as follows:

[0018] Let the dip angle of the acquisition layer in the steeply tilted target layer be denoted as αc, and the compressive strength value be γc; set an attitude influence coefficient ε independently for each calibration attitude parameter.

[0019] The formula for calculating the attitude parameter weights of the i-th calibrated attitude parameter is as follows: ,

[0020] In the formula, εi represents the attitude influence coefficient of the i-th calibrated attitude parameter.

[0021] Furthermore, the attitude influence coefficient is set in a graded manner according to the type of equipment subunit to which it belongs; wherein, the attitude influence coefficient corresponding to the hydraulic support subunit is greater than the attitude influence coefficient corresponding to the scraper conveyor subunit, and the attitude influence coefficient corresponding to the scraper conveyor subunit is greater than the attitude influence coefficient corresponding to the coal mining machine subunit.

[0022] Furthermore, an upper limit value for the influence coefficient is set to limit the attitude influence coefficient of the hydraulic support located in the fractured rock area of ​​the target steeply inclined layer to within the upper limit value.

[0023] Furthermore, the construction of the calibration calculation model includes:

[0024] Collect the dip angle and compressive strength values ​​of multiple coal seams in the target mining area and take the average value. These values ​​are then labeled as the dip angle reference value and compressive strength reference value, respectively. The dip angle reference value is denoted as α0, and the compressive strength reference value is denoted as γ0. The initial center distance in the steeply dipping target layer is denoted as D0, the calibration center distance is denoted as Dc, the dip angle value is denoted as αc, and the compressive strength value is γc.

[0025] The calculation formula for the calibration calculation model is expressed as follows: ,

[0026] Where β0 is the system calibration coefficient, and β0 < 0; β1 is the intensity gain coefficient, and β1 > 0; β2 is the tilt angle penalty coefficient, and β2 < 0; For collaborative correction components.

[0027] Furthermore, the content of the collaborative correction component includes:

[0028] The normal thickness value of the coal seam in the target steeply inclined layer is obtained by measuring the measurement unit; the normal thickness values ​​of multiple coal seams in the target mining area are collected and the average value is taken, and the average value is marked as the normal thickness reference value; the normal thickness value of the coal seam is represented as hc, and the normal thickness reference value is represented as h0;

[0029] Then the cooperative correction component It can be represented as: , where β3 is the thickness effect coefficient and μ is the tilt angle intensity coefficient.

[0030] Furthermore, the content of the collaborative correction component also includes a supplementary component, which is added to the collaborative correction component by numerical addition; the content of the supplementary component includes:

[0031] Based on the reference azimuth, mark the main strike angle in the target mining area and denote it as θmax; mark the strike angle of the coal seam in the target steeply dipping layer and denote it as θ; set the strike amplitude coefficient δ, and denote the supplementary component as Q.

[0032] The formula for calculating the supplementary component Q is: .

[0033] Furthermore, the calculation process for the main directional angle θmax is set as follows:

[0034] The main strike angle is equally discretely set into several candidate angle components θs. For each candidate angle component θs, a support cost and a roadway length value are set for the coal seam strike. The support cost is denoted as M, and the roadway length value is denoted as Y.

[0035] The formula for calculating the main orientation angle θmax is: .

[0036] Furthermore, the directional amplitude coefficient is set as follows: the directional amplitude coefficient δ is positively correlated with the tilt angle of the acquisition layer; a tilt angle threshold is set for the tilt angle of the acquisition layer, and the speed increase decreases after the tilt angle of the acquisition layer exceeds the tilt angle threshold.

[0037] Furthermore, the reference values ​​for the dip angle and compressive strength of the sampling layer are calculated based on data from non-sharply inclined coal seams in a stable mining state and coal seams with a dip angle less than the dip angle threshold in the target mining area.

[0038] Furthermore, the method for marking the coal seam strike angle is set as follows: multiple measuring points are set along the coal seam extension direction in the target steeply dipping layer, the azimuth angle of the coal seam surface trace at each measuring point is measured, and the azimuth angles obtained at all measuring points are fitted in direction to obtain the extension direction of the coal seam in the horizontal plane, which is used as the coal seam strike angle.

[0039] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0040] 1. In the process of correcting the center distance of hydraulic supports, the dip angle and compressive strength values ​​of the collected layers are introduced as core correction parameters, which match the actual geological conditions of steeply inclined coal seams. This effectively reduces the systematic interference of gravity components on attitude sensing data under large dip angle conditions and significantly improves the correction accuracy of the center distance of hydraulic supports in the uphill eye area.

[0041] 2. Construct a closed-loop calibration mechanism so that the center distance of the hydraulic support is no longer directly adjusted based on the result of a single measurement, but is output by the calibration calculation model and then fed back for execution. This can prevent the original measurement error from directly entering the control system of the actuator and causing over-adjustment, thereby improving the overall stability of the hydraulic support in the uphill eye area.

[0042] 3. By introducing the uniaxial compressive strength of the rock mass as a mechanical constraint parameter, the center distance correction result can reflect the bearing capacity of the surrounding rock and the deformation trend of the support. This transforms the straightening logic from a local attitude response to a global parameter constraint, thereby improving the response sensitivity of the straightening action under high-strength surrounding rock conditions and enhancing the safety of hydraulic support attitude adjustment. Attached Figure Description

[0043] The accompanying drawings, which are included to provide a further understanding of embodiments of the invention and form part of this application, do not constitute a limitation thereof. In the drawings:

[0044] Figure 1 This is a schematic diagram of the structure of the present invention. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the present invention clearer, the present invention will be further described in detail below with reference to the embodiments and accompanying drawings. The illustrative embodiments and descriptions of the present invention are only used to explain the present invention and are not intended to limit the present invention.

[0046] Example 1, such as Figure 1 As shown, this embodiment is an intelligent system for the center-to-center distance of supports in steeply inclined coal seams. The system includes:

[0047] Equipment unit: It is equipped with an actuator including a support subunit. The actuator is equipped with a communication module and an attitude sensing module. The communication module is used to transmit the initial attitude parameters of the actuator collected by the attitude sensing module to the measurement unit. The calibration center distance is received from the calculation unit and the calibration center distance is used to update the equipment attitude of the actuator.

[0048] Measurement Unit: When the actuator operates using the initial attitude parameters, it measures and obtains the initial center distance of the hydraulic support in the support subunit, and measures and obtains the dip angle value of the acquisition layer and the uniaxial compressive strength value of the rock mass in the target steeply inclined layer, and transmits the initial center distance, dip angle value of the acquisition layer and compressive strength value to the calculation unit;

[0049] Calculation unit: Receives the initial center distance, acquisition layer tilt angle, and compressive strength value from the measurement unit, constructs a calibration calculation model based on the initial center distance, acquisition layer tilt angle, and compressive strength value, calculates the calibration center distance using the calibration calculation model, and transmits the calibration center distance to the device unit to update the device attitude of all attitude sensing modules.

[0050] In coal mining, coal seam occurrence conditions have a decisive impact on mining technology, safety control, and equipment adaptability. Steeply dipping coal seams typically refer to a type of coal seam structure with a large dip angle and complex spatial morphology. Their dip angle is generally significantly larger than that of conventional gently or moderately dipping coal seams, and in actual mining areas, they are often accompanied by geological features such as fold development, dense faults, dramatic variations in coal seam thickness, and significant floor undulations. During the mining of steeply dipping coal seams, due to the large dip angle, the mining equipment and support structures are under asymmetrical stress for extended periods. The influence of gravity along the dip direction of the coal seam is significantly enhanced, resulting in operational characteristics in the mining machine's traction posture, the scraper conveyor's trajectory, and the hydraulic support arrangement that are distinctly different from those in gently dipping coal seams. These factors not only increase the complexity of equipment coordination and control but also easily lead to problems such as support instability, increased difficulty in roof management, and increased operational safety risks. Most existing coal mining technologies and control models are based on the assumption of horizontal or near-horizontal coal seams, and related measurement and control parameters typically assume relatively stable coal seam geometry and stress conditions. Under steeply inclined coal seam conditions, the dip angle of the seam significantly affects sensor data such as pressure, displacement, and attitude. This leads to substantial discrepancies between results calculated using conventional models and actual working conditions, making it difficult to effectively adapt existing automated control and adjustment strategies. This can even result in adjustment failures or malfunctions, posing safety risks. Furthermore, the working environment in steeply inclined coal seam acquisition areas is generally harsh, with prominent issues such as rockfall, water seepage, high dust concentrations, and poor lighting conditions. Frequent vibrations and impacts also negatively affect the calibration and debugging of measuring equipment and the accuracy of data acquisition. In this context, relying on manual observation or traditional ranging methods to calibrate equipment layout and key parameters is insufficient to meet the requirements for accuracy and continuity.

[0051] The initial center distance and the calibrated center distance both represent the center distance between adjacent hydraulic supports, that is, the actual equivalent spacing between the central axes of adjacent supports, which are important parameters characterizing the rationality of hydraulic support layout. In conventional gently inclined or near-horizontal coal seams, the control of hydraulic support center distance is usually based on relatively stable geometric relationships and mechanical conditions. Existing technologies mostly obtain support position and attitude information through support displacement sensors, pressure sensors, and attitude sensors, and combine them with preset geometric models to automatically straighten the hydraulic supports or manually correct them by observation, thereby achieving control and optimization of the center distance. However, in the critical area of ​​the uphill eye in steeply inclined coal seams, the scraper conveyor's running trajectory usually exhibits a curved or transitional shape, the traction posture of the coal mining machine is significantly affected by the gravity component, and the hydraulic supports need to work in coordination with various equipment under dynamically changing working conditions, resulting in large random fluctuations in the center distance. Existing center distance calibration methods generally rely on laser ranging, geometric projection, or manual observation. In the actual working environment of steeply inclined coal seams, problems such as rolling coal, water spray, and dust are prominent. Poor on-site lighting conditions, frequent vibration and impact, and severe equipment obstruction make it difficult to stably implement the above-mentioned calibration methods. Center distance deviations are difficult to correct in a timely and effective manner, and deviation accumulation and amplification phenomena that are easily overlooked by conventional observation methods may even occur during the straightening process. Therefore, conventional calibration methods are no longer applicable.

[0052] The target steeply dipping layer refers to a steeply dipping coal seam located in the target mining area and currently undergoing mining. The dip angle value of the sampling layer refers to the angle value of the coal seam relative to the horizontal plane, reflecting the tilt state of the coal seam in space. It is usually expressed in degrees, approaching 0 degrees in horizontal coal seams and significantly increasing in steeply dipping coal seams, making it one of the core parameters characterizing the geometry of the coal seam. The sampling layer refers to the coal seam currently being mined, i.e., the target steeply dipping layer, where dip angle data is collected. The uniaxial compressive strength value of the rock mass refers to the ultimate compressive strength of the surrounding rock or coal sample under axial pressure without lateral constraints until failure, characterizing the overall mechanical strength level of the rock mass. It is usually obtained through laboratory uniaxial compression tests or in-situ measurement inversion, and the unit is megapascals (MPa), reflecting the bearing capacity and stability of the surrounding rock. The dip angle value of the sampling layer determines the proportion of gravity decomposition within the coal seam and in the normal direction. The larger the dip angle, the larger the gravity component along the seam direction, significantly affecting the stability of the hydraulic support posture, slippage tendency, and center distance requirements. The compressive strength value characterizes the ability of the surrounding rock to resist compressive deformation and failure. The lower the strength, the more easily the surrounding rock deforms, breaks, and displaces, directly affecting the tolerance range of the support system to changes in center distance. In the specific application of this embodiment, the dip angle of the sampling layer can determine the degree of structural unfavorability, and the compressive strength can determine the bearing capacity of the surrounding rock.

[0053] The actuator is not a single device, but rather a complete hardware system for mining steeply inclined coal seams. The actuator includes a support subunit, which contains a hydraulic support for supporting the roof and forming a working face support system. In one implementation, in specific applications, the actuator may include, in addition to the support subunit, one or more of the following: a top beam subunit, a base subunit, a column subunit, a pushing mechanism, a coal mining mechanism, a scraper conveyor mechanism, a hydraulic power subunit, a displacement sensor, a pressure sensor, a local controller, and an anti-slip and dustproof structure subunit. Because the communication module and attitude sensing module are located within the actuator and function for all subunits within it, the communication module is used for data communication and transmission between the various subunits of the actuator and the measurement unit, and between the actuator and the calculation unit; the attitude sensing module is used to collect real-time attitude information of all mechanisms within the actuator, including the support subunit.

[0054] The initial attitude parameters refer to a set of basic parameters collected in real time by the attitude sensing module before center distance calibration and attitude update. These parameters describe the initial spatial orientation, geometric position, and motion state of the hydraulic support (or other sub-units that can be used by the actuator in specific implementations) in space, and serve as the input benchmark for center distance measurement and calibration calculation. In specific implementations, as a possible example, the initial attitude parameters may include one or more of the following support attitude parameters of the hydraulic support: spatial orientation parameters, including the pitch angle, yaw angle, and roll angle of the support; relative displacement parameters, including the relative lateral displacement between adjacent hydraulic supports and the offset of the support centerline relative to the roadway centerline; and motion state parameters, including the instantaneous displacement of the support during advance or retraction and the rate of change of the support attitude. As a supplementary example, in a specific implementation, when the actuator also includes a pushing mechanism, a coal mining mechanism, and a scraper conveying mechanism, the initial attitude parameters may include pushing attitude parameters (such as the pushing direction angle and the cylinder extension length), coal mining machine operating parameters (such as the machine body traction angle and the initial traction speed), and scraper conveying parameters (such as the angle between adjacent middle troughs and the displacement of the conveyor relative to the base).

[0055] When the actuator operates using initial attitude parameters, the initial center distance of the hydraulic supports in the support subunit is measured and obtained. This represents the actual center distance between hydraulic supports measured using conventional techniques under actual steeply inclined coal seam operating conditions, with the uncorrected attitude state as a benchmark. This provides raw input data for the subsequent construction of a geological-attitude coupled center distance calibration model. The initial center distance can be understood as the actual equivalent distance between the central axes of adjacent supports under the current uncorrected initial attitude parameter control in steeply inclined coal seam conditions. The conventional techniques for measurement and acquisition can include geometric projection measurement and displacement sensor cumulative calculation. In steeply inclined coal seams, conventional methods for obtaining the center distance of hydraulic supports are prone to problems such as: the failure of the calculation model based on horizontal or small inclination angle assumptions; ineffective compensation for the nonlinear coupling between attitude and displacement; inability to eliminate systematic deviations caused by gravity and surrounding rock conditions; and continuous accumulation of errors during the advancement process. Consequently, the obtained center distance cannot accurately reflect the actual arrangement of hydraulic supports in steeply inclined coal seams, thus severely restricting the accurate control and intelligent correction of the center distance.

[0056] Updating the actuator's attitude using the calibration center distance signifies adjusting the device's spatial state based on the predictive calibration results. The attitude of the actuator, which has not yet been updated, is determined by the initial attitude parameter settings. "Updating the device attitude" can be understood as reassigning or correcting the initial attitude parameters in the attitude sensing module. In practice, the process of updating the actuator's attitude can be represented as follows: adjusting the initial attitude parameters of the hydraulic support value by value according to the difference between the calibration center distance and the current hydraulic support center distance (in practice, the attitude parameters of other configurable components of the actuator can also be adjusted); by adjusting the initial attitude parameters value by value, the center distance between adjacent hydraulic supports gradually approaches and reaches the size of the calibration center distance, and the adjusted attitude parameters are used as the new device attitude parameters for subsequent measurement and control. In practical application, the process of "updating using the calibration center distance" does not mean a one-time forced adjustment, but can be reflected as a gradual, controlled, step-by-step calibration process of attitude parameters.

[0057] A calibration calculation model is constructed based on the initial center distance, the dip angle of the collected layer, and the compressive strength value. This transforms the calibration process of the hydraulic support center distance from a single geometric correction to a multi-dimensional parameter coupling correction. This effectively overcomes the systematic deviation of the center distance caused by the large dip angle and complex surrounding rock conditions in steeply inclined coal seams. It also improves the stability, adaptability, and long-term reliability of the center distance control, thus providing solid technical support for the safe and efficient mining of steeply inclined coal seams.

[0058] Furthermore, as a feasible implementation method, the construction of the calibration calculation model includes:

[0059] Collect the dip angle and compressive strength values ​​of multiple coal seams in the target mining area and take the average value. These values ​​are then labeled as the dip angle reference value and compressive strength reference value, respectively. The dip angle reference value is denoted as α0, and the compressive strength reference value is denoted as γ0. The initial center distance in the steeply dipping target layer is denoted as D0, the calibration center distance is denoted as Dc, the dip angle value is denoted as αc, and the compressive strength value is γc.

[0060] The calculation formula for the calibration calculation model is expressed as follows: ,

[0061] Where β0 is the system calibration coefficient, and β0 < 0; β1 is the intensity gain coefficient, and β1 > 0; β2 is the tilt angle penalty coefficient, and β2 < 0; For collaborative correction components.

[0062] The aforementioned dip angle and compressive strength benchmark values ​​refer to the multi-point measurements of the dip angle and compressive strength values ​​of multiple coal seams within the corresponding mining area of ​​the target mining area. The acquired parameters are statistically analyzed and averaged to obtain benchmark values ​​reflecting the overall geomechanical characteristics of the mining area, which serve as reference benchmarks for subsequent center distance calibration calculation models. "Multi-point measurement" means that within the corresponding mining area of ​​the target mining area, multiple measurement locations are set along the strike, dip, and different burial depths of each coal seam to be sampled. The dip angle and compressive strength values ​​at the corresponding locations are obtained, and the multi-point measurement data are statistically processed to form representative benchmark values ​​for dip angle and compressive strength. Specific examples of coal seam location points may include: selecting multiple intervald measurement locations and rock sampling points along the strike direction of the coal seam within the target mining area; setting measurement sampling points in the hanging wall, middle, and footwall regions respectively along the dip direction of the coal seam; and setting measurement sampling points at different burial depths or different roadway elevations. Averaging the acquired values ​​is to construct a reference baseline at the mining area scale, eliminating interference from local faults, folds, and abnormally hard interlayers on the model, allowing the calibration model to primarily focus on the degree of deviation from the norm. In specific implementation, as a feasible example, the collection of benchmark values ​​for dip angle and compressive strength of the sampling layer can be carried out in the following ways, including but not limited to: the dip angle parameters of the sampling layer and the uniaxial compressive strength parameters of the surrounding rock for each coal seam can be obtained directly from the coal mine exploration manual, and the average value can be directly taken for subsequent calculations; when the recorded data is missing, the dip angle values ​​of the sampling layer at multiple measuring points in the corresponding coal seam can be obtained using an inclinometer and the average value can be taken; a portable point load instrument can be used to take several representative rock cores on site, apply pressure load until the sample fails, and take the average value of the multiple failure pressure load thresholds as the compressive strength value.

[0063] In specific implementation, the multiple coal seams can be all coal seams, all non-steeply inclined coal seams, or a subset of coal seams selected based on their steep inclination angles. In this embodiment, no single limitation is required. Different selection methods for multiple coal seams will result in different statistical characteristics for the obtained coal seam dip angle benchmark, compressive strength benchmark, and normal thickness benchmark, thus affecting the values ​​of the logarithmic and exponential terms in the calibration calculation model. By adjusting the selection method of the multiple coal seams, a balance can be struck between the stability and sensitivity of the calibration results to adapt to the engineering requirements of different steeply inclined coal seam mining stages. Implementers can choose according to specific circumstances. Selecting all coal seams reflects the overall geological characteristics of the mining area, with a smaller logarithmic value, a more moderate exponential correction range, and reduced sensitivity of the calibration center distance to the characteristics of a single coal seam. Selecting all non-steeply inclined coal seams can be used as a benchmark for stable working conditions, with a smaller sample dip angle benchmark value, a smaller exponential term, and a more significant reduction in the calibration center distance. Its engineering implication is to strengthen the penalty effect on steeply inclined working conditions, increase the density of support layout, and suit high-risk areas where safety is paramount. Selecting a portion of coal seams after screening for steep inclination angles allows for precise calibration under steep inclination conditions. The values ​​of α0 and αc are close, and the exponential correction is mainly due to γc. The control and calibration center distance are relatively closer to the initial center distance, resulting in smooth and continuous calibration results, which is conducive to dynamic adjustment and real-time control, and is suitable for online correction during the data acquisition process.

[0064] The exponential form (exp) is used to ensure that the calibration center distance remains positive and naturally reflects nonlinear effects, i.e., nonlinear increases and decreases when the dip angle is large and the rock mass strength changes significantly. The ratio of the compressive strength value γc to the compressive strength reference value γ0 represents the current rock mass strength relative to the reference value. The ratio of the dip angle value αc of the acquisition layer to the dip angle reference value α0 of the acquisition layer represents the current dip angle relative to the reference dip angle. Using logarithmic form to convert these proportional changes into symmetrical linear quantities can reflect the nonlinear characteristics of small changes having little impact on correction (i.e., ensuring that the gain or penalty effect does not linearly amplify the deviation), while the effect decreases or increases with larger changes, facilitating linear coupling with the gain or penalty coefficient.

[0065] The system calibration coefficient β0 is used to correct the systematic deviation of the center distance across the entire working face or mining area. Setting β0 < 0 allows for unified fine-tuning, reducing the risk of excessive global deviation. The strength gain coefficient represents the quantitative influence of changes in rock mass strength on center distance correction. Setting β1 > 0 indicates that when the uniaxial compressive strength of the coal seam in the sampling area increases, the compressive strength value is higher than the compressive strength benchmark value, indicating that the rock under stress in the steeply inclined coal seam is relatively hard, the support stability is improved, and the center distance can be appropriately increased to improve coal mining efficiency or ventilation space. The dip angle penalty coefficient represents the linear sensitivity of the logarithmic change in the dip angle of the sampling layer to the correction amount, reflecting the contraction effect of the dip angle of the sampling layer on the center distance. Setting β2 < 0 indicates that in steeply inclined coal seams, when the dip angle of the sampling layer in the sampling area increases, the gravity component increases along the support direction. At this time, the dip angle value of the sampling layer is higher than the dip angle benchmark value of the sampling layer, the support is prone to slippage or off-center loading, and the center distance of the support needs to be reduced to maintain stability. In specific implementations, as a possible example, the numerical range of β0 can be set to (-0.05, 0) based on global fine-tuning; the numerical range of β1 can be set to (0.1, 0.5) to adjust the gain of rock mass hardness on center distance; the numerical range of β2 can be set to (-0.3, 0.05), and when setting it, it is necessary to ensure that the calibration center distance Dc under the maximum dip angle condition is not less than a safe minimum spacing amount.

[0066] For simplicity, the calculation formula is simplified to Dc = D0∙exp(E). When E is less than 0, exp(E) is less than 1, resulting in Dc being less than D0. This indicates that the dip angle of the current steeply inclined coal seam sampling area is large, causing excessive impact on the current hydraulic support, or that the surrounding rock in the sampling area is relatively soft. In this case, the initial center distance setting is too large and needs to be appropriately reduced to ensure mining safety. When E is greater than 0, exp(E) is greater than 1, resulting in Dc being greater than D0. This indicates that the dip angle of the current steeply inclined coal seam sampling area is within the acceptable range, or that the surrounding rock is relatively hard. In this case, increasing the support spacing can improve passage space and production efficiency without reducing support safety. When E is approximately 0, exp(E) is approximately 1, and Dc ≈ D0. At this point, the operating condition is close to the baseline value, and the correction effect is limited, only used to compensate for minor disturbances or measurement errors. The system does not need to significantly adjust the center distance.

[0067] The collaborative correction component is a supplementary fine-tuning quantity, used to supplement the parts that cannot be fully described by the main body of the calculation formula. Its value may involve local geological heterogeneity, measurement noise, or sensor errors. The collaborative correction component is added to the exponential part in an additive form to fine-tune the final calibration center distance, which can compensate for local deviations or atypical working conditions and prevent the model from failing under special circumstances. Its specific content can be a fixed constant, an empirical function, or a dynamic feedback value, providing more flexible correction for the local geological characteristics of different mining areas or different operating sections, and providing additional compensation for deviations caused by complex geology of steeply inclined coal seams or dynamic response of equipment.

[0068] By constructing an exponential-logarithmic calibration calculation model with reference to the dip angle benchmark value and the rock mass compressive strength benchmark value, the calibration process of hydraulic support center distance can simultaneously reflect the constraint effect brought about by the increase of dip angle and the adjustment effect brought about by the change of surrounding rock strength. Furthermore, by coordinating the correction components, the model's adaptability to complex steeply inclined coal seam conditions is further enhanced, achieving adaptive matching between support spacing and working conditions. This ensures balanced roof support, reduces the risk of off-center loading and slippage, and thus significantly improves the accuracy, stability, and engineering practicality of center distance control.

[0069] As a feasible implementation method, the reference values ​​for the dip angle and compressive strength of the sampling layer are calculated based on data from non-sharply inclined coal seams in a stable mining state and coal seams with a dip angle less than the dip angle threshold in the target mining area.

[0070] Steeply inclined coal seams are subject to complex stresses, with abnormal characteristics in roof pressure, support stress, and displacement. Directly using data from steeply inclined coal seams to calculate baseline values ​​may lead to overestimation or underestimation of calibration coefficients or excessive deviations in the calibration center distance (Dc). Selecting non-steeply inclined coal seams and coal seams with dip angles less than the dip angle threshold helps avoid over- or under-calibration caused by using data from unstable steeply inclined coal seams. Baseline values ​​can be generated from non-steeply inclined coal seam data in different mining areas and mining zones, improving the reliability of the model's output Dc and enhancing mining efficiency and safety.

[0071] Furthermore, as a possible implementation method, the content of the collaborative correction component includes:

[0072] The normal thickness value of the coal seam in the target steeply inclined layer is obtained by measuring the measurement unit; the normal thickness values ​​of multiple coal seams in the target mining area are collected and the average value is taken, and the average value is marked as the normal thickness reference value; the normal thickness value of the coal seam is represented as hc, and the normal thickness reference value is represented as h0;

[0073] Then the cooperative correction component It can be represented as: , where β3 is the thickness effect coefficient and μ is the tilt angle intensity coefficient.

[0074] The hc / h0 part in the formula represents the ratio of the current normal thickness value of the coal seam to the reference thickness. The logarithmic form is set to map the ratio change into a linearly additive quantity. In specific applications, the normal thickness value of the coal seam can be measured directly between the roof and floor of the coal seam along the roadway using a steel tape measure or a thickness gauge, and then the mean or median value can be obtained after measuring several samples. The thickness effect coefficient represents the influence intensity of the change in the normal thickness of the coal seam on the center distance of the hydraulic support. In specific implementations, the value of β3 is greater than 0. When hc > h0, it is determined that the current steeply inclined coal seam is a thick coal seam, which makes increase, resulting in an increase in Dc, meaning that the center distance of the support can be adjusted slightly to increase to ensure the operation space of the coal cutter. When hc < h0, it is determined that the current steeply inclined coal seam is a thin coal seam, which makes decrease, resulting in a decrease in Dc, meaning that the hydraulic supports are arranged more densely to improve the roof support stability. Since it is necessary to ensure that Dc is within the safe layout range in engineering to avoid excessive or too small support spacing due to thickness correction, and if β3 is too small, the thickness change will have little effect on the correction. Therefore, in specific implementations, the value range of β3 can be set to (0.05, 0.3) to ensure that the normal thickness value of the coal seam has a certain amount of correction effect on the initial center distance. The value range can be fine-tuned according to the change range of the coal seam thickness in the mining area and the sensitivity of the support. The part is used as the dip attenuation factor, representing the inhibitory effect of the dip value of the current steeply inclined coal seam's extraction layer on the effect of the normal thickness value of the coal seam. Among them, the larger the dip value αc of the extraction layer, the larger (sinαc) 2 is, and the smaller the influence of the thickness on the center distance. The dip intensity coefficient μ can adjust the inhibition intensity, and it can be set according to the empirical rule in specific applications. The dip attenuation factor is set to conform to the stress law of the roof stress in the steeply inclined coal seam, ensuring that the thickness change in the calculation model in the steeply inclined coal seam will not cause excessive or too small support spacing, and realizing a safe and economical support layout.

[0075] As a feasible implementation method, the normal thickness reference value is calculated based on the normal thickness value of the effective coal seam after removing the parting layer. In steeply inclined coal seams, the coal seam often contains thin parting layers, coal bands or coal and gangue mixed areas. The thickness of the parting layer may be comparable to the coal seam thickness, but it does not produce an effective supporting effect on the layout of hydraulic supports. If the average thickness including the parting layer is directly calculated, it may overestimate the effective coal seam thickness. Therefore, in actual implementation, the parting layer is removed to ensure that the thickness reference value only reflects the effective coal seam thickness that has an actual effect on the support layout, and to avoid the influence of non-supporting layers on the calibration calculation.

[0076] Furthermore, the content of the collaborative correction component also includes a supplementary component, and the supplementary component is added to the collaborative correction component in a numerical addition manner; the content of the supplementary component includes:

[0077] Based on the reference azimuth, mark the main strike angle in the target mining area and denote it as θmax; mark the strike angle of the coal seam in the target steeply dipping layer and denote it as θ; set the strike amplitude coefficient δ, and denote the supplementary component as Q.

[0078] The formula for calculating the supplementary component Q is: .

[0079] The supplementary component Q is added to the collaborative correction component in an additive manner. The coal seam strike angle represents the direction of the coal seam's extension in the horizontal plane, usually represented by an angle θ, measured relative to a reference direction (such as true north), ranging from 0° to 360°. In the formula... This indicates that the angle values ​​in the calculation formula are converted to radians for function operations, and the mapped angle range is 0-360 degrees, representing a single angle mapping and emphasizing the strike direction vector of the coal seam. In this embodiment, the radian conversion amount is set to... The process involves doubling the angle, representing a dual-angle mapping. The mapping range is adjusted from 0-360 degrees to 0-180 degrees, signifying that the coal seam strike is treated as a directionless axis, emphasizing the degree of deviation relative to the main strike axis (i.e., the main strike angle). The strike amplitude coefficient controls the sensitivity of strike deviation to center distance correction, determining the amplification ratio of the sine function output when the coal seam strike deviates from the main strike angle θmax, thereby changing the magnitude of the supplementary component Q. The difference between θ and θmax represents the deviation of the coal seam strike from the main strike of the mining area. The sine function maps this deviation to positive or negative numbers, reflecting the correction direction and ensuring that the center distance correction direction is opposite when the strike deviates to the left or right. When deviating to one side, sin>0, and Q>0, indicating an increase in the calibration center distance; when deviating to the other side, sin<0, and Q<0, indicating a decrease in the calibration center distance. The supplementary component Q provides reasonable adjustments to the center distance for coal seams with strike deviations, avoiding calibration deviations that occur when relying solely on thickness and dip angle corrections.

[0080] As a feasible implementation, the strike amplitude coefficient is set as follows: the strike amplitude coefficient δ is positively correlated with the dip angle of the acquisition layer; a dip angle threshold is set for the dip angle of the acquisition layer, and the rate of increase decreases after the dip angle of the acquisition layer exceeds the dip angle threshold. In steeply dipping coal seams, the larger the dip angle of the acquisition layer, the more significant the impact of strike deviation on the center distance of the support. If the amplitude of the original supplementary component Q is fixed, the strike deviation correction requirement in the high-dipping angle area may be underestimated. When the dip angle is small, the value of δ is small, and the impact of Q on the center distance is reduced; when the dip angle is large, the value of δ is large, enhancing the correction of strike deviation. The dip angle threshold can be set as an empirical rule for the hill-hole area of ​​steeply dipping coal seams, for example, setting the dip angle threshold between 40 and 60 degrees.

[0081] Furthermore, as a feasible implementation method, the calculation process for the main directional angle θmax is set as follows:

[0082] The main strike angle is equally discretely set into several candidate angle components θs. For each candidate angle component θs, a support cost and a roadway length value are set for the coal seam strike. The support cost is denoted as M, and the roadway length value is denoted as Y.

[0083] The formula for calculating the main orientation angle θmax is: .

[0084] Each candidate angle component corresponds to a possible main strike direction. The support cost represents the total material and construction cost required for supporting the roadway along the strike direction of the candidate angle component. In specific implementation, this may include the costs of hydraulic supports, roof support materials, construction labor, and other actuators. The total cost can be calculated by setting the support cost per unit length for different roadway geological conditions using mine design specifications or historical engineering experience. The roadway length value represents the total length of the roadway arranged along the strike direction of the candidate angle component. In practical applications, this can be directly obtained using a mine topographic map or geological profile. The formula for calculating the main strike angle θmax means that θmax is selected as the candidate angle component whose support cost is minimized within the unit roadway length value.

[0085] Furthermore, as a feasible implementation method, the marking method for the coal seam strike angle is set as follows: multiple measuring points are set along the coal seam extension direction in the target steeply dipping layer, the azimuth angle of the coal seam surface trace at each measuring point is measured, and the azimuth angles obtained at all measuring points are fitted in direction to obtain the extension direction of the coal seam in the horizontal plane, which is used as the coal seam strike angle.

[0086] The multiple measuring points are not used for strike determination at a single location or randomly placed, but rather to acquire strike information of the coal seam bedding plane in the horizontal plane at multiple spatial locations along the overall extension direction of the coal seam, reflecting the true strike characteristics of the coal seam at the mining area scale. Setting up multiple measuring points along the coal seam extension direction in the target steeply dipping layer means setting up measuring points for strike measurement at different spatial locations along the main extension trend direction of the coal seam; identifying the bedding plane trace formed by the coal seam bedding plane and the roadway or working face at each measuring point, and measuring the azimuth angle of the bedding plane trace relative to the reference direction in the horizontal plane to obtain strike information of the coal seam at different locations. The direction fitting of the azimuth angles obtained from all measuring points means using the azimuth angles of the coal seam bedding plane trace measured at multiple measuring points along the coal seam extension direction as direction samples, and obtaining a main direction that reflects the overall geometric extension characteristics of the coal seam through direction fusion and main direction extraction processing, and labeling the direction angle corresponding to the main direction in the horizontal plane as the coal seam strike angle.

[0087] The direction fitting process can be performed using vector synthesis or by selecting discrete directions. In a specific implementation, the direction fitting process using vector synthesis can be set as follows: Set the azimuth angle θk of the measurement point, where k represents the ordinal number of the azimuth angle of the measurement point, and set U to represent the total number of azimuth angles of the measurement point.

[0088] Construct the unit direction vector Vk: ,

[0089] Define the composite component Vx of the north-south axis: ,

[0090] Define the resultant component Vy along the north-south axis: ,

[0091] The fitting formula for the strike angle θ of the coal seam is expressed as: .

[0092] Vx represents the composite projection of the coal seam strike direction at multiple measuring points in the X direction (i.e., east-west direction), reflecting the lateral extension trend of the overall coal seam strike in the horizontal direction. It represents the composite component in the first horizontal direction after converting the azimuth angle of the coal seam surface trace at each measuring point into a unit direction vector. Vy represents the composite projection of the coal seam strike direction at multiple measuring points in the Y direction (south-north direction), reflecting the longitudinal extension trend of the overall coal seam strike. It represents the composite component in the corresponding second horizontal direction. The engineering physical meaning of Vx and Vy represents the statistical principal direction or directional energy concentration direction of the coal seam strike. The arctan operation is used to deduce the direction angle of the composite vector relative to the X-axis based on the components of the composite vector in the X and Y directions. θ is the principal strike angle of the coal seam in the horizontal plane obtained by arctangent operation based on the composite components.

[0093] Example 2: In this example, the actuator further includes a scraper conveyor subunit and a coal mining machine subunit. The process of updating the device attitude of the actuator using the calibration center distance is set as follows: calibrated attitude parameters are defined for the scraper conveyor subunit, coal mining machine subunit, and support subunit in the actuator. The calibration attitude parameters represent variables that are numerically updated from the initial attitude parameters. The calibration center distance is used to reverse-calculate the parameter deviation that needs to be changed for each initial attitude parameter when updating the initial center distance to the calibration center distance. Each parameter deviation is added to the corresponding initial attitude parameter to obtain the calibration attitude parameter, thereby completing the device attitude update of the actuator.

[0094] The scraper conveyor subunit refers to a collection of mechanical actuators installed within the steeply inclined coal seam working face to carry and transport coal and rock materials generated during coal mining. It includes at least a scraper conveyor body, a head section, a tail section, a transmission assembly, and a support structure that cooperates with the hydraulic support. The coal mining machine subunit refers to a coal mining equipment assembly arranged along the scraper conveyor subunit and operating within the support range of the hydraulic support. It includes the coal mining machine body, a traction mechanism, a cutting mechanism, and a guide structure that cooperates with the scraper conveyor. The defined calibration attitude parameters represent the corrected attitude parameters obtained by updating and adjusting the initial attitude parameters of the scraper conveyor subunit, coal mining machine subunit, and support subunit within the actuator to correct the initial center distance to the calibration center distance. The parameter deviation is calculated backwards from the difference between the calibration center distance and the initial center distance to ensure that the updated attitudes of each subunit spatially meet the arrangement requirements of the calibration center distance. Unlike the value-by-value adjustment process in Example 1, the implementation process in this example is to quickly deduce the adjustment amount (i.e. parameter deviation) required for the initial attitude parameters based on the calibration center distance, which is faster and more efficient.

[0095] Furthermore, as a feasible implementation method, the calculation process for the parameter deviation is set as follows:

[0096] Let the initial center distance be denoted as D0, and the calibration center distance as Dc. Then, the center distance deviation is represented as ΔD = |Dc - D0|. Let the initial attitude parameter be denoted as p0, and the calibration attitude parameter as p. Let the set of calibration attitude parameters be denoted as P = {p1, p2, ..., pn}. For each calibration attitude parameter, assign an attitude parameter weight and represent it as ω. Let the ordinal number in the set of calibration attitude parameters be denoted as i, and the parameter deviation of the calibration attitude parameter be represented as Δp.

[0097] The formula for calculating the parameter deviation of the i-th calibration attitude parameter is as follows: ,

[0098] The formula for calculating the i-th calibration attitude parameter is: pi = Δpi + p0i;

[0099] Wherein, p0i represents the initial center parameter of the correction corresponding to the i-th calibrated attitude parameter; j represents the independent ordinal number of the attitude parameter weight; ωi represents the attitude parameter weight of the i-th calibrated attitude parameter, and ωj represents any one of the attitude parameter weight terms.

[0100] The process of this implementation can be summarized as follows: it mainly includes four stages: setting the center distance deviation, modeling the calibration attitude parameters in a set, normalizing the weights of the attitude parameters, and updating the calibration attitude parameters. The center distance deviation ΔD is used to characterize the degree of geometric deviation between the current overall arrangement state of the actuator and the target calibration state. The larger ΔD is, the more obvious the overall attitude deviation of the equipment. The calibration attitude parameter set P represents the spatial attitude of the scraper conveyor, coal mining machine, and support sub-unit as a set of multiple adjustable parameters. Due to the structural complexity of the actuator and the flexibility of the site, the specific number of attitude parameters and the corresponding actuator adjustment variables can be flexibly adjusted according to the operating characteristics of each mechanism or device at the implementation site, and are not specifically limited here. In specific applications, as a specific implementation example without limitation, the attitude parameters of the scraper conveyor sub-unit may include the scraper conveyor lateral and longitudinal offset and the scraper conveyor pitch angle; the attitude parameters of the coal mining machine sub-unit may include the coal mining machine traction direction angle and the coal mining machine support lateral offset; and the attitude parameters of the support sub-unit may include the support top beam tilt angle and the support base tilt angle. In the formula for calculating the parameter deviation, the fractional part represents the relative weight ratio of the i-th attitude parameter among all attitude parameters. This means that the i-th attitude parameter is responsible for the proportion of center distance correction, preventing over-adjustment of a single attitude parameter and achieving coordinated and balanced adjustment among multiple attitude parameters.

[0101] Furthermore, as a feasible implementation method, the attitude parameter weights are set as follows:

[0102] Let the dip angle of the acquisition layer in the steeply tilted target layer be denoted as αc, and the compressive strength value be γc; set an attitude influence coefficient ε independently for each calibration attitude parameter.

[0103] The formula for calculating the attitude parameter weights of the i-th calibrated attitude parameter is as follows: ,

[0104] In the formula, εi represents the attitude influence coefficient of the i-th calibrated attitude parameter.

[0105] The attitude parameter weights are adaptively adjusted by incorporating the dip angle and compressive strength values ​​of the acquisition layer, thereby enhancing the attitude correction under steep inclination and weak surrounding rock conditions, while leveling off under smaller dip angles or higher rock strength conditions. The attitude influence coefficient can be specifically determined by the equipment structural characteristics, motion patterns, and empirical data. It reflects the inherent importance of different attitude parameters and does not change with coal seam conditions, serving as a static benchmark weight. In the formula... Partially, the dip angle of the acquisition layer is mapped from an angle system to a dimensionless sine value to characterize the influence of the dip angle on the sensitivity of attitude correction. The larger the dip angle, the greater the component of gravity along the working face, and the stronger the disturbance to the traction attitude of the scraper conveyor and coal mining machine, as well as the support arrangement. 1 / γc represents the inverse modulation effect of the uniaxial compressive strength of the rock mass on the attitude parameter weights. The smaller γc is, the softer the surrounding rock, and the more easily the equipment attitude deviates; in this case, stronger correction and increased attitude weights are needed. Conversely, the larger γc is, the more stable the surrounding rock, and the smaller the attitude deviation; to avoid over-adjustment, the attitude weights are reduced. By introducing the dip angle of the acquisition layer and the uniaxial compressive strength of the rock mass to modulate the attitude parameter weights, the adjustment range of each calibrated attitude parameter can adaptively change with the working conditions of steeply inclined coal seams, thereby improving the pertinence, stability, and safety of equipment attitude updates during center distance correction.

[0106] Furthermore, as a feasible implementation method, the attitude influence coefficient is set in a graded manner according to the type of equipment sub-unit to which it belongs; wherein, the attitude influence coefficient corresponding to the hydraulic support sub-unit is greater than the attitude influence coefficient corresponding to the scraper conveyor sub-unit, and the attitude influence coefficient corresponding to the scraper conveyor sub-unit is greater than the attitude influence coefficient corresponding to the coal mining machine sub-unit; an upper limit value for the influence coefficient is set to limit the attitude influence coefficient corresponding to the hydraulic support located in the fractured surrounding rock area in the target steeply inclined layer to within the upper limit value of the influence coefficient.

[0107] Different sub-units have varying impacts on the center distance. In this embodiment, the hydraulic support directly determines the center distance and working face stability, serving as the core execution unit for center distance control; the scraper conveyor determines the working face transport and trajectory continuity, having a significant but secondary impact on the center distance; the coal mining machine primarily performs cutting operations, with a relatively indirect impact on the center distance. Therefore, the attitude influence coefficient is set in stages according to the equipment sub-unit type, with different equipment sub-units corresponding to different basic influence levels, used to reflect the influence weight of the sub-unit's attitude change on the center distance correction result. In the surrounding rock fracture zone, the support experiences large force fluctuations and its attitude is prone to sudden changes; if the attitude influence coefficient is too large, it may lead to overly aggressive correction actions, causing safety hazards. Therefore, it is necessary to set the attitude influence coefficient in stages and introduce an upper limit constraint. The attitude influence coefficient corresponding to the hydraulic support located in the surrounding rock fracture zone is limited to within the preset upper limit value of the influence coefficient. By classifying the attitude influence coefficient according to the equipment sub-unit type and setting an upper limit constraint on the attitude influence coefficient of the hydraulic support in the surrounding rock fracture area, the adjustment weight of the attitude parameters of each equipment during the center distance correction process can reflect the difference in equipment importance and avoid over-correction in high-risk areas, thereby improving the safety and stability of equipment attitude control during steeply inclined coal seam mining.

[0108] The specific embodiments described above further illustrate the purpose, technical solution, and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. An intelligent system for the center-to-center distance of supports in steeply inclined coal seams, characterized in that, The system includes: Equipment unit: It is equipped with an actuator including a support subunit. The actuator is equipped with a communication module and an attitude sensing module. The communication module is used to transmit the initial attitude parameters of the actuator collected by the attitude sensing module to the measurement unit. The calibration center distance is received from the calculation unit and the calibration center distance is used to update the equipment attitude of the actuator. Measurement Unit: When the actuator operates using the initial attitude parameters, it measures and obtains the initial center distance of the hydraulic support in the support subunit, and measures and obtains the dip angle value of the acquisition layer and the uniaxial compressive strength value of the rock mass in the target steeply inclined layer, and transmits the initial center distance, dip angle value of the acquisition layer and compressive strength value to the calculation unit; Calculation unit: Receives the initial center distance, acquisition layer tilt angle value and compressive strength value from the measurement unit, constructs a calibration calculation model based on the initial center distance, acquisition layer tilt angle value and compressive strength value, calculates the calibration center distance using the calibration calculation model, and transmits the calibration center distance to the device unit to update the device attitude of all attitude sensing modules; The construction of the calibration calculation model includes: Collect the dip angle and compressive strength values ​​of multiple coal seams in the target mining area and take the average value. These values ​​are then labeled as the dip angle reference value and compressive strength reference value, respectively. The dip angle reference value is denoted as α0, and the compressive strength reference value is denoted as γ0. The initial center distance in the steeply dipping target layer is denoted as D0, the calibration center distance is denoted as Dc, the dip angle value is denoted as αc, and the compressive strength value is γc. The calculation formula for the calibration calculation model is expressed as follows: , Where β0 is the system calibration coefficient, and β0 < 0; β1 is the intensity gain coefficient, and β1 > 0; β2 is the tilt angle penalty coefficient, and β2 < 0; For collaborative correction components; The content of the collaborative correction component includes: The normal thickness value of the coal seam in the target steeply inclined layer is obtained by measuring the measurement unit; the normal thickness values ​​of multiple coal seams in the target mining area are collected and the average value is taken, and the average value is marked as the normal thickness reference value; the normal thickness value of the coal seam is represented as hc, and the normal thickness reference value is represented as h0; Then the cooperative correction component It can be represented as: , where β3 is the thickness effect coefficient and μ is the tilt angle intensity coefficient; The content of the collaborative correction component also includes a supplementary component, which is added to the collaborative correction component by numerical addition; the content of the supplementary component includes: Based on the reference azimuth, mark the main strike angle in the target mining area and denote it as θmax; mark the strike angle of the coal seam in the target steeply dipping layer and denote it as θ; set the strike amplitude coefficient δ, and denote the supplementary component as Q. The formula for calculating the supplementary component Q is: .

2. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 1, characterized in that, The actuator also includes a scraper conveyor subunit and a coal mining machine subunit; the process of updating the device attitude of the actuator using the calibration center distance is set as follows: a calibration attitude parameter is defined for the scraper conveyor subunit, the coal mining machine subunit and the support subunit in the actuator, and the calibration attitude parameter represents a variable that is updated numerically from the initial attitude parameter; The calibration center distance is used to reverse-engineer the parameter deviation that needs to be changed for each initial attitude parameter when updating the initial center distance to the calibration center distance. Each parameter deviation is added to the corresponding initial attitude parameter to obtain the calibration attitude parameter, thereby completing the device attitude update of the actuator.

3. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 2, characterized in that, The calculation process for the parameter deviation is set as follows: Let the initial center distance be denoted as D0, and the calibration center distance as Dc. Then, the center distance deviation is represented as ΔD = |Dc - D0|. Let the initial attitude parameter be denoted as p0, and the calibration attitude parameter as p. Let the set of calibration attitude parameters be denoted as P = {p1, p2, ..., pn}. For each calibration attitude parameter, assign an attitude parameter weight and represent it as ω. Let the ordinal number in the set of calibration attitude parameters be denoted as i, and the parameter deviation of the calibration attitude parameter be represented as Δp. The formula for calculating the parameter deviation of the i-th calibration attitude parameter is as follows: , The formula for calculating the i-th calibration attitude parameter is: pi = Δpi + p0i; Wherein, p0i represents the initial center parameter of the correction corresponding to the i-th calibrated attitude parameter; j represents the independent ordinal number of the attitude parameter weight; ωi represents the attitude parameter weight of the i-th calibrated attitude parameter, and ωj represents any one of the attitude parameter weight terms.

4. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 3, characterized in that, The attitude parameter weights are set as follows: Let the dip angle of the acquisition layer in the steeply tilted target layer be denoted as αc, and the compressive strength value be γc; set an attitude influence coefficient ε independently for each calibration attitude parameter. The formula for calculating the attitude parameter weights of the i-th calibrated attitude parameter is as follows: , In the formula, εi represents the attitude influence coefficient of the i-th calibrated attitude parameter.

5. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 4, characterized in that, The attitude influence coefficient is set in a grade according to the type of equipment subunit; wherein, the attitude influence coefficient corresponding to the hydraulic support subunit is greater than that corresponding to the scraper conveyor subunit, and the attitude influence coefficient corresponding to the scraper conveyor subunit is greater than that corresponding to the coal mining machine subunit.

6. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 5, characterized in that, Set an upper limit for the influence coefficient to limit the attitude influence coefficient of the hydraulic support located in the fractured rock area of ​​the target steeply inclined layer to within the upper limit of the influence coefficient.

7. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 1, characterized in that, The calculation process for the main directional angle θmax is set as follows: The main strike angle is equally discretely set into several candidate angle components θs. For each candidate angle component θs, a support cost and a roadway length value are set for the coal seam strike. The support cost is denoted as M, and the roadway length value is denoted as Y. The formula for calculating the main orientation angle θmax is: .

8. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 1, characterized in that, The directional amplitude coefficient is set as follows: the directional amplitude coefficient δ is positively correlated with the tilt angle of the acquisition layer; a tilt angle threshold is set for the tilt angle of the acquisition layer, and the speed increase decreases after the tilt angle of the acquisition layer exceeds the tilt angle threshold.

9. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 8, characterized in that, The reference values ​​for the dip angle and compressive strength of the sampling layer are calculated based on data from non-sharply inclined coal seams in a stable mining state and coal seams with a dip angle less than the dip angle threshold in the target mining area.

10. The intelligent system for center-to-center distance of supports for steeply inclined coal seams according to claim 8, characterized in that, The method for marking the strike angle of the coal seam is as follows: multiple measuring points are set along the extension direction of the coal seam in the target steeply dipping layer, the azimuth angle of the coal seam surface trace at each measuring point is measured, and the azimuth angles obtained at all measuring points are fitted to obtain the extension direction of the coal seam in the horizontal plane, which is used as the strike angle of the coal seam.

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