Fully mechanized coal mining face straightness detection system and method thereof

Abstract

The invention discloses a fully mechanized coal mining face straightness detection system and a method thereof, and belongs to the technical field of coal mining machines. A fully mechanized coal mining face straightness detection system comprises three distance measuring sensors which are installed on the same side of a coal mining machine and walk on a scraper conveyor along with the coal mining machine to obtain first, second and third linear distances between the three distance measuring sensors and all stand columns respectively; the coal mining machine control module is in communication connection with the three distance measuring sensors and used for receiving the three linear distances corresponding to the stand columns, calculating stand column distances according to the second linear distance and storing the stand column distances into the stand column array; and the electric hydraulic control host is in communication connection with the coal mining machine control module, and is used for receiving the upright column array and the corresponding direction identification sent by the coal mining machine control module, and drawing a working face straightness curve according to the upright column array and the direction identification. The three external distance measuring sensors are adopted to detect the relative position relation between the coal mining machine and the stand column, the straightness detection of the fully mechanized coal mining face is achieved, and the occupied space in an electric control box is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining machine, in particular to a straightness detection system for fully mechanized coal mining face and a method thereof. BACKGROUND

[0002] The fully mechanized coal mining face is the core production unit of modern coal mine with high yield and high efficiency, which is mainly composed of three key devices, i.e. coal mining machine, scraper conveyor and hydraulic support. Among them, the scraper conveyor not only undertakes the task of coal transportation, but also serves as the running track of the coal mining machine. The hydraulic support is hinged with the chute connecting hole of the scraper conveyor through the pushing device at the bottom, and the extension and retraction action of the pushing jack is used to realize the pushing of the scraper conveyor (pushing chute) and the pulling of the hydraulic support itself (pulling support). Therefore, the posture of the scraper conveyor is completely controlled by the pushing and pulling actions of the hydraulic support. The hydraulic support and the scraper conveyor constitute a floating system, and it is difficult to realize the straightness detection and control of the working face hydraulic support and the scraper conveyor.

[0003] At present, the measurement of the straightness of the scraper conveyor in the fully mechanized coal mining face mainly relies on two types of technical solutions based on image detection and inertial navigation (inertial navigation), but these methods have significant inherent defects, which restrict the accuracy of straightness detection and control.

[0004] Firstly, the effectiveness of the method based on image detection is highly dependent on the fixed installation pose of the camera and the good on-site lighting conditions. However, in actual production, first of all, in order to realize remote monitoring, the operator often needs to adjust the angle of the camera to observe different equipment, which will directly change the measurement reference, leading to inaccurate image acquisition. Even if it is reset later, it is difficult to restore to the original accurate calibration position, introducing errors that are difficult to calibrate. Secondly, the working face environment is dark and dusty, and it is difficult to continuously obtain clear and high-quality images, which makes the reliability of this method drop sharply in key scenes.

[0005] Secondly, the method based on inertial navigation faces the dual challenges of precision and cost: in order to improve the measurement accuracy, high-precision inertial sensors must be used, which inevitably brings high hardware cost; at the same time, the inertial navigation system will produce cumulative errors that cannot be eliminated by itself during the long-time operation of the coal mining machine, and must rely on external reference information for correction. However, the auxiliary parameters (such as absolute position reference) required in actual working conditions are often difficult to obtain accurately, leading to incomplete error correction and affecting the final straightness detection and control effect.

[0006] In summary, the existing technology either has poor environmental adaptability and variable reference, or has high cost and cumulative error, and cannot meet the demand for high-precision and robust straightness detection and control in fully mechanized coal mining face. SUMMARY

[0007] The purpose of the present application is to provide a fully mechanized coal mining face straightness detection system and method.

[0008] The purpose of the present application is achieved in that: Firstly, the present application provides a fully mechanized coal mining face straightness detection system, which comprises a coal mining machine, a scraper conveyor and a plurality of hydraulic supports; wherein the coal mining machine travels on the scraper conveyor; each hydraulic support comprises at least one column; the column is arranged opposite to the old pond side of the coal mining machine, characterized in that the detection system comprises: three distance measuring sensors, which are first, second and third distance measuring sensors arranged in parallel and sequentially, are installed on the same side of the coal mining machine, and as the coal mining machine travels on the scraper conveyor, the first distance measuring sensor sequentially obtains the first straight line distance between the first reference point and each column, the second distance measuring sensor sequentially obtains the second straight line distance between the second reference point and each column, and the third distance measuring sensor sequentially obtains the third straight line distance between the third reference point and each column; wherein the first reference point, the second reference point and the third reference point are the same or different positions on the old pond side of the coal mining machine; a coal mining machine control module for controlling the operation of the coal mining machine according to an operation instruction, wherein the operation instruction comprises coal mining machine travel direction information; the coal mining machine control module is also in communication connection with the three distance measuring sensors for receiving the first straight line distance, the second straight line distance and the third straight line distance corresponding to each column, and when the first straight line distance, the second straight line distance and the third straight line distance are simultaneously less than or equal to a first threshold value, the column distance is calculated according to the second straight line distance and stored in a column array corresponding to the direction identifier; wherein the direction identifier is generated according to the coal mining machine travel direction information and stored in the coal mining machine control module; the array name of the column array matches the direction identifier; an electro-hydraulic control host in communication connection with the coal mining machine control module for receiving the column array and its corresponding direction identifier sent by the coal mining machine control module after the coal mining machine completes the coal cutting operation required by the operation instruction, and drawing a working face straightness curve according to the column array and the direction identifier.

[0009] As a preferred, the first, second and third distance measuring sensors are arranged in parallel and sequentially along the travel direction of the coal mining machine, the interval between the first and third distance measuring sensors is not greater than the width of the column, and the interval between every two adjacent columns is greater than the width of the column.

[0010] Secondly, the application further provides a straightness detection method for the fully-mechanized coal mining face, which is suitable for the straightness detection system for the fully-mechanized coal mining face. With the shearer walking on the scraper conveyor, the first distance sensor obtains the first straight-line distances between the first reference point and each of the columns in sequence, the second distance sensor obtains the second straight-line distances between the second reference point and each of the columns in sequence, and the third distance sensor obtains the third straight-line distances between the third reference point and each of the columns in sequence; wherein the first reference point, the second reference point and the third reference point are the same or different positions on the old pond side of the shearer. When the first straight-line distance, the second straight-line distance and the third straight-line distance are simultaneously less than or equal to a first threshold value, the first straight-line distance, the second straight-line distance and the third straight-line distance are respectively taken as values and stored in a first array, a second array and a third array corresponding to a direction identifier in the order of acquisition; wherein the direction identifier is generated according to the shearer walking direction information and stored in the shearer control module; the first array, the second array and the third array are all located in the shearer control module, the array names of which match the direction identifier, and the initial values of which are zero. The average value of the second straight-line distances with non-zero values stored in the second array is calculated to represent the column distance and stored in a column array corresponding to the direction identifier; the column array is located in the shearer control module, the array name of which matches the direction identifier, and the initial value of which is zero. After the shearer completes the coal cutting operation required by the operation instruction, the shearer control module sends the column array and the corresponding direction identifier to the electro-hydraulic control host, and clears the column array in the shearer control module; After receiving the column array and the corresponding direction identifier, the electro-hydraulic control host draws a working face straightness curve according to the column array and the direction identifier.

[0011] Preferably, when the first straight-line distance, the second straight-line distance and the third straight-line distance are simultaneously less than or equal to a first threshold value, the first straight-line distance, the second straight-line distance and the third straight-line distance are respectively taken as values and stored in a first array, a second array and a third array corresponding to a direction identifier in the order of acquisition, comprising the following steps: Obtain the shearer walking direction information recorded in the shearer control module, determine the walking direction of the shearer at the time of measurement, and generate the direction identifier stored in the shearer control module; the walking direction of the shearer includes a first direction and a second direction opposite to each other, and the direction identifier includes a first direction identifier and a second direction identifier corresponding to the walking direction of the shearer. When the first straight-line distance, the second straight-line distance and the third straight-line distance acquired by the three ranging sensors are simultaneously less than or equal to a first threshold value, a first array identifier is generated by combining the direction identifier with a first sensor identifier corresponding to the first ranging sensor, the first array identifier corresponding to an array name of the first array; a second array identifier is generated by combining the direction identifier with a second sensor identifier corresponding to the second ranging sensor, the second array identifier corresponding to an array name of the second array; and a third array identifier is generated by combining the direction identifier with a third sensor identifier corresponding to the third ranging sensor, the third array identifier corresponding to an array name of the third array; A current column number recorded in the coal mining machine control module and a column code initial value corresponding to the direction identifier are acquired to generate a column code; the column code corresponds to a serial number of a first array element storing a non-zero value corresponding to the first array identifier, the column code corresponds to a serial number of a second array element storing a non-zero value corresponding to the second array identifier, and the column code corresponds to a serial number of a third array element storing a non-zero value corresponding to the third array identifier; The array name of the first array is determined according to the corresponding relationship between the first array identifier and the array name of the first array; the array name of the second array is determined according to the corresponding relationship between the second array identifier and the array name of the second array; and the array name of the third array is determined according to the corresponding relationship between the third array identifier and the array name of the third array; The serial number of the first array element is determined according to the corresponding relationship between the column code and the serial number of the first array element storing a non-zero value corresponding to the first array identifier; the serial number of the second array element is determined according to the corresponding relationship between the column code and the serial number of the second array element storing a non-zero value corresponding to the second array identifier; and the serial number of the third array element is determined according to the corresponding relationship between the column code and the serial number of the third array element storing a non-zero value corresponding to the third array identifier; The first array element is located according to the array name of the first array and the serial number of the first array element; the second array element is located according to the array name of the second array and the serial number of the second array element; and the third array element is located according to the array name of the third array and the serial number of the third array element; storing the first straight-line distance obtained by the first ranging sensor into the first array element; storing the second straight-line distance obtained by the second ranging sensor into the second array element; storing the third straight-line distance obtained by the third ranging sensor into the third array element; wherein the initial value of the first array element, the second array element and the third array element is zero; updating the current column number recorded.

[0012] Preferably, the average value of the second straight-line distance stored in the non-zero value of the second array is calculated to represent the column distance, and is stored into the column array corresponding to the direction identifier, including the following steps: stopping storing data into the first array, the second array and the third array when the first straight-line distance, the second straight-line distance or the third straight-line distance changes from less than or equal to a first threshold value to greater than the first threshold value; calculating the average value of the second straight-line distance stored in the non-zero value of the second array to represent the column distance; extracting the direction identifier stored in the shearer control module, which corresponds to the array name of the column array, so as to determine the array name of the column array; determining the serial number of the column array element according to the column code corresponding to the second array element; locating the column array element according to the array name of the column array and the serial number of the column array element; storing the column distance into the column array element; wherein the initial value of the column array element is zero; clearing the first array, the second array and the third array.

[0013] Preferably, the detection method further includes the step of identifying the coal cutting operation required by the operation instruction of the shearer, wherein the operation instruction of the shearer includes a one-way coal cutting instruction or a two-way coal cutting instruction: when the operation instruction includes the one-way coal cutting instruction, if the current column number recorded in the shearer control module reaches a second threshold value, it is determined that the shearer completes the coal cutting operation required by the operation instruction; when the operation instruction includes the two-way coal cutting instruction, the operation instruction further includes a reversing instruction; if the current column number recorded in the shearer control module reaches the second threshold value but the reversing instruction has not been triggered, the current column number is cleared to restart counting; if the current column number recorded in the shearer control module reaches the second threshold value and the reversing instruction has been triggered, it is determined that the shearer completes the coal cutting operation required by the operation instruction.

[0014] Preferably, the detection method further comprises: According to the operation instruction of the coal mining machine and the current column number and the second straight line distance recorded in the coal mining machine control module, when it is identified that the nearest detectable object is the last column in the first direction or the second direction, the first second straight line distance meeting the condition obtained by the second distance measuring sensor is stored to the column array; the condition is less than or equal to a first threshold value.

[0015] Preferably, after the electric-hydraulic control host receives the column array and the corresponding direction identifier, the electric-hydraulic control host further comprises: According to the number of columns contained by each hydraulic support, the column array elements in the column array storing non-zero values are grouped according to the walking direction of the coal mining machine represented by the direction identifier and the order of the column codes; each hydraulic support is assigned a unique support number, and each support number matches the column code and the direction identifier corresponding to a group of column array elements storing non-zero values; the column code corresponds to the serial number of the column array element storing non-zero values in a one-to-one manner. The column distances in each group of column array elements storing non-zero values are averaged to represent the support distance; wherein, according to the matching relationship between the support number and the column code and the direction identifier, the support distance corresponds to the support number in the walking direction of the coal mining machine in a one-to-one manner.

[0016] Preferably, the working face straightness curve is drawn according to the walking direction of the coal mining machine represented by the direction identifier and the support distance corresponding to each support number.

[0017] Preferably, the working face straightness curve is drawn according to the walking direction of the coal mining machine represented by the direction identifier and the column distance corresponding to each column code.

[0018] The beneficial effects of the present application are: the present application uses three external distance measuring sensors to detect the relative position relationship between the coal mining machine and the column, realizes the straightness detection of the fully mechanized working face, reduces the occupation of the internal space of the electric control box; moreover, the three external distance measuring sensors are used for straightness detection, without waiting for sensor calibration, which can effectively save time and improve production efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A schematic diagram of an embodiment of the fully mechanized working face straightness detection system of the present application is shown; Figure 2 A state diagram of the column detection by the distance measuring sensor in the fully mechanized working face straightness detection system of the present application is shown; Figure 3A flow chart of the method for detecting straightness of a fully mechanized coal mining face is shown.

[0020] Explanation of reference signs: 1 - coal mining machine; 2 - distance measuring sensor; 3 - stand column; 4 - coal mining machine control module; 5 - electro-hydraulic control host. DETAILED DESCRIPTION

[0021] Various embodiments of the present application will be described with reference to the drawings. In the description and drawings, elements with similar structures or functions will be denoted by the same element symbols. It can be understood that the drawings are merely used for reference and illustration, and are not intended to limit the present application. The sizes shown in the drawings are merely for clear description, and do not limit the proportions or exhaustively describe the present application, nor limit the scope of the present application.

[0022] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.

[0023] Firstly, the present application proposes a straightness detection system for a fully mechanized coal mining face.

[0024] In an embodiment, as shown in Figures 1-2 A straightness detection system for a fully mechanized coal mining face includes a coal mining machine control module 4, three distance measuring sensors 2 and an electro-hydraulic control host 5 in communication with the coal mining machine control module 4, which can use wired communication or wireless communication, and the present application does not limit the communication mode. The fully mechanized coal mining face described herein mainly includes a coal mining machine 1, a scraper conveyor (not shown in the figure) and a plurality of hydraulic supports, and the coal mining machine 1 travels on the scraper conveyor. Each hydraulic support includes at least one stand column 3, which is arranged opposite to the old pond side of the coal mining machine 1, and a plurality of stand columns 3 are usually arranged at equal intervals, and the interval width between two stand columns 3 is greater than the stand column width, which refers to the length of the stand column in the direction of the coal mining machine travel.

[0025] Specifically, three ranging sensors 2 are installed on the coal mining machine 1, which can be installed at the middle position or other suitable positions of the old trench side of the coal mining machine body or the electric control box as needed, and the middle position is preferred. The three ranging sensors 2 are a first ranging sensor, a second ranging sensor and a third ranging sensor arranged in parallel in sequence, specifically arranged in parallel in sequence along the walking direction of the coal mining machine, and the distance between the first ranging sensor and the third ranging sensor which are the farthest apart is not greater than the column width, and the second ranging sensor is located between the first and third ranging sensors.

[0026] The three ranging sensors 2 are used to sequentially obtain the straight-line distances between the respective reference points and the respective columns 3 as the coal mining machine 1 walks on the scraper conveyor. Specifically, the first ranging sensor sequentially obtains the first straight-line distances between the first reference point and each column, the second ranging sensor sequentially obtains the second straight-line distances between the second reference point and each column, and the third ranging sensor sequentially obtains the third straight-line distances between the third reference point and each column. Among them, the first reference point, the second reference point and the third reference point are all located on the old trench side of the coal mining machine 1, which can be the same position or different positions. For example, the reference points can be the ranging sensors themselves, so the three reference points are different positions, or they can be certain fixed points of the electric control box, so the three reference points are the same position. The ranging sensors 2 can be selected from laser ranging sensors, ultrasonic ranging sensors or radar ranging sensors, etc., and generally any ranging sensor that meets the conditions for use in coal mines can be applicable. Here, each straight-line distance refers to the straight-line distance between the reference point detected by each ranging sensor and the column (i.e., the distance between two points).

[0027] The coal mining machine control module 4 is used to control the operation of the coal mining machine 1 according to the operation instructions, which include the coal mining machine walking direction information, etc. The coal mining machine control module 4 is also in communication connection with the three ranging sensors, for receiving the first straight-line distances, the second straight-line distances and the third straight-line distances corresponding to each column, and when the first straight-line distances, the second straight-line distances and the third straight-line distances are all less than or equal to the first threshold value, the column distance is calculated according to the second straight-line distance and stored in the column array corresponding to the direction identifier. In other words, only the data of the second straight-line distance is used to calculate the column distance. Among them, the direction identifier is generated according to the coal mining machine walking direction information and stored in the coal mining machine control module. The array name of the column array matches the direction identifier.

[0028] It should be noted that the coal mining machine control module 4 described herein refers to a control system applied to coal mining, which is mainly used to adjust and control the operation and attitude of the coal mining machine according to the operation instructions input by the operator. It does not only represent the coal mining machine control system on the coal mining machine side or the coal mining machine control system on the crossheading side, but also covers the coal mining machine side and the crossheading side.

[0029] The electro-hydraulic control host 5 is in communication connection with the coal mining machine control module 4. After the coal mining machine 1 completes the coal cutting operation required by the operation instruction, the column array and the direction identifier corresponding to the column array sent by the coal mining machine control module 4 are received, and the working face straightness curve is drawn according to the column array and the direction identifier.

[0030] It should be noted that the coal mining machine 1 completes the coal cutting operation corresponding to different operation instructions "one-way coal cutting instruction" or "two-way coal cutting instruction". When the operation instruction is one-way coal cutting instruction, it corresponds to one-time coal cutting operation, and when the operation instruction is two-way coal cutting instruction, it corresponds to two-time coal cutting operation. After the coal mining machine control module 4 sends the column array to the electro-hydraulic control host 5, the column array in the coal mining machine control module 4 is cleared immediately, so as to record the data information corresponding to the coal cutting operation of the coal mining machine 1 executing the next operation instruction.

[0031] In the embodiment, three external distance measuring sensors are used to detect the relative position relationship between the coal mining machine and the column, realize the straightness detection of the fully mechanized working face, and reduce the occupation of the internal space of the electric control box. Moreover, the three external distance measuring sensors are used for straightness detection, without waiting for sensor calibration, which can effectively save time and improve production efficiency.

[0032] Secondly, based on the foregoing fully mechanized working face straightness detection system, the application further provides a fully mechanized working face straightness detection method.

[0033] In an embodiment, as shown in Figure 3 The fully mechanized working face straightness detection method comprises the following steps: Step 100: As the coal mining machine walks on the scraper conveyor, the first distance measuring sensor obtains the first straight line distance between the first reference point and each column in turn, the second distance measuring sensor obtains the second straight line distance between the second reference point and each column in turn, and the third distance measuring sensor obtains the third straight line distance between the third reference point and each column in turn.

[0034] The first reference point, the second reference point and the third reference point are all located on the old pond side of the coal mining machine, and can be the same position or different positions. They can be the distance measuring sensors themselves, certain fixed points of the electric control box, etc. The following three reference points are taken as examples to illustrate the distance measuring sensors themselves.

[0035] According to the communication connection mode of the three distance measuring sensors and the coal mining machine control module, the first straight line distance, the second straight line distance and the third straight line distance measured by the distance measuring sensors are directly transmitted to the coal mining machine control module.

[0036] The three distance measuring sensors measure the posts in sequence along the walking direction of the coal mining machine, so that the straight line distances between the distance measuring sensors and the posts are obtained. Therefore, the acquisition order of the straight line distances is consistent with the order of the posts along the walking direction of the coal mining machine and the arrangement order of the three distance measuring sensors, and finally the one-to-one correspondence between the straight line distances and the posts along the walking direction of the coal mining machine is realized. For example, the coal mining machine walks from left to right, and the posts are coded 1, 2, …, N along the direction. The three distance measuring sensors along the direction are the third distance measuring sensor, the second distance measuring sensor and the first distance measuring sensor in sequence. As the coal mining machine walks, the first distance measuring sensor first detects the first straight line distance between the post with the post code "1", then the second distance measuring sensor detects the second straight line distance between the post with the post code "1", and finally the third distance measuring sensor detects the third straight line distance between the post with the post code "1".

[0037] Step 200: When the first straight line distance, the second straight line distance and the third straight line distance are simultaneously less than or equal to the first threshold value, the first straight line distance, the second straight line distance and the third straight line distance are respectively stored as values in the first array, the second array and the third array corresponding to the direction identifier in the acquisition order.

[0038] The direction identifier is generated according to the walking direction information of the coal mining machine and stored in the coal mining machine control module. The first array, the second array and the third array are all located in the coal mining machine control module, the array names of which match the direction identifier, and the initial values of which are zero.

[0039] According to the working principle of the distance measuring sensor, the measurement is generally the straight line distance between itself and the nearest detectable object. Here, the first threshold value is specifically set as the farthest distance between the distance measuring sensor and the center point of the coal wall side of the post during the coal cutting process of the coal mining machine. During the coal cutting process, the post is the nearest detectable object that can be detected by each distance measuring sensor, and other detectable objects that can be detected are farther away. Therefore, when the detected straight line distance is less than or equal to the first threshold value, it indicates that the obtained straight line distance is between the reference point and the post.

[0040] Meanwhile, three distance measuring sensors are used in the present embodiment, and as the coal mining machine walks, each distance measuring sensor cannot always detect the straight line distance between itself and the post. When the three distance measuring sensors can all detect the straight line distance between themselves and the post, it indicates that the position of the post detected by the second distance measuring sensor located in the middle is more central, and can more accurately reflect the distance between the reference point and the post. Therefore, here only the values detected by the three distance measuring sensors that simultaneously satisfy the condition of being less than or equal to the first threshold value are regarded as valid values, and the three straight line distances are respectively stored in the first array, the second array and the third array.

[0041] In addition, since the coal mining machine can walk in different directions, in order to distinguish the straight line distances measured by the same ranging sensor in different directions, the array is corresponded to the direction identifier.

[0042] Specifically, the step 200 of storing the three straight line distances comprises the following steps: The step 210: obtaining the walking direction information of the coal mining machine recorded in the control module of the coal mining machine, determining the walking direction of the coal mining machine when measuring, and generating the direction identifier and storing it in the control module of the coal mining machine.

[0043] The walking direction of the coal mining machine comprises a first direction and a second direction opposite to each other, and the direction identifier comprises a first direction identifier and a second direction identifier corresponding to the walking direction of the coal mining machine.

[0044] In order to distinguish the straight line distances measured by the same ranging sensor in different directions, after the straight line distances are measured, the walking direction of the coal mining machine needs to be confirmed. Specifically, the walking direction of the coal mining machine is determined according to the walking direction information recorded in the control module of the coal mining machine, and the corresponding direction identifier is generated.

[0045] The coal mining machine can walk in one direction or in two directions according to specific operation instructions, corresponding to one-way coal cutting mode and two-way coal cutting mode respectively. Here, the two-way walking of the coal mining machine refers to walking along one direction from the first column to the last column of a row of columns (from the head of the scraper conveyor to the tail of the scraper conveyor, or from the tail of the scraper conveyor to the head of the scraper conveyor), and then walking in the opposite direction from the last column to the first column of a row of columns (corresponding to the direction mentioned above, the opposite direction corresponds to the tail of the scraper conveyor to the head of the scraper conveyor, or the head of the scraper conveyor to the tail of the scraper conveyor).

[0046] For convenience of the following description, the first direction identifier is exemplarily represented by "R", and the second direction identifier is exemplarily represented by "L".

[0047] The step 220: when the first straight line distance, the second straight line distance and the third straight line distance obtained by the three ranging sensors are all less than or equal to the first threshold value, the direction identifier is combined with the first sensor identifier corresponding to the first ranging sensor to generate a first array identifier, the first array identifier corresponds to the array name of the first array one by one. The direction identifier is combined with the second sensor identifier corresponding to the second ranging sensor to generate a second array identifier, the second array identifier corresponds to the array name of the second array one by one. The direction identifier is combined with the third sensor identifier corresponding to the third ranging sensor to generate a third array identifier, the third array identifier corresponds to the array name of the third array one by one.

[0048] Step 220 is configured to generate an array name for positioning the array storing the straight-line distances when it is determined that the straight-line distances obtained by the three ranging sensors are all the straight-line distances between the ranging sensors and the same column. In order to distinguish the three ranging sensors, taking the direction of the coal mining machine walking from left to right as the first direction, the arrangement order of the three ranging sensors is the third ranging sensor, the second ranging sensor and the first ranging sensor. Exemplarily, the third sensor identifier corresponding to the third ranging sensor is represented by "L", the second sensor identifier corresponding to the second ranging sensor is represented by "Z", and the first sensor identifier corresponding to the first ranging sensor is represented by "R". As described above, the array identifier generated by combining the direction identifier and the sensor identifier is: the first array identifier "RR", the second array identifier "RZ", and the third array identifier "RL".

[0049] Step 230: obtaining the current column quantity recorded in the coal mining machine control module and the column code initial value corresponding to the direction identifier, and generating the column code. The column code corresponds to the serial number of the first array element storing the non-zero value corresponding to the first array identifier, the column code corresponds to the serial number of the second array element storing the non-zero value corresponding to the second array identifier, and the column code corresponds to the serial number of the third array element storing the non-zero value corresponding to the third array identifier.

[0050] The current column quantity is used to represent the total number of columns for which the ranging sensors complete column distance detection during one coal cutting operation of the coal mining machine. The recording of the current column quantity can be realized by setting a column quantity counter in the coal mining machine control module. The initial value of the counter can be set to zero. Whenever the straight-line distances obtained by the three ranging sensors all experience the case of changing from less than or equal to the first threshold value to greater than the first threshold value, the counter is incremented by one, so as to realize the recording of the current column quantity. Alternatively, it can be judged that the ranging sensor obtaining the straight-line distance of the first or last measured column changes from less than or equal to the first threshold value to greater than the first threshold value in the walking direction of the coal mining machine. As described above, the coal mining machine walks from left to right, and only the straight-line distance obtained by the third ranging sensor changes from less than or equal to the first threshold value to greater than the first threshold value, or only the straight-line distance obtained by the first ranging sensor changes from less than or equal to the first threshold value to greater than the first threshold value. Of course, it can also be judged that the straight-line distance obtained by the second ranging sensor changes from less than or equal to the first threshold value to greater than the first threshold value.

[0051] Particularly, when the coal mining machine performs bidirectional coal cutting, the coal mining machine will perform a reversal, at this time, the counter will be cleared and re-counted.

[0052] The initial value of the column code is different for different direction identifiers. For example, when the direction identifier is the first direction identifier "R", the initial value of the column code is zero and increases along the first direction. When the direction identifier is the second direction identifier "L", the initial value of the column code is the total number of columns plus one and decreases along the second direction. Here, the increase or decrease means that the current column number is added or subtracted from the initial value of the column code.

[0053] Step 240: According to the correspondence between the first array identifier and the array name of the first array, the array name of the first array is determined. According to the correspondence between the second array identifier and the array name of the second array, the array name of the second array is determined. According to the correspondence between the third array identifier and the array name of the third array, the array name of the third array is determined.

[0054] In view of the one-to-one correspondence between the array name and the array identifier, for the sake of convenience, the same letter can be directly used to represent it, that is, the array name of the first array is "RR", the array name of the second array is "RZ", and the array name of the second array is "RL".

[0055] Step 250: According to the correspondence between the column code and the serial number of the first array element storing the non-zero value corresponding to the first array identifier, the serial number of the first array element is determined. According to the correspondence between the column code and the serial number of the second array element storing the non-zero value corresponding to the second array identifier, the serial number of the second array element is determined. According to the correspondence between the column code and the serial number of the third array element storing the non-zero value corresponding to the third array identifier, the serial number of the third array element is determined.

[0056] As described above, the column code is generated according to the current column number and the initial value of the column code corresponding to the direction identifier. Assuming that the current column number is "3" and the direction identifier is the first direction identifier "R", the initial value of the column code is zero and increases along the first direction, so the generated column code is "3", and the serial number of the column array element is determined as "3". Assuming that the current column number is "3" and the direction identifier is the second direction identifier "L", the initial value of the column code is the total number of columns "20" plus one and decreases along the second direction, so the generated column code is "18", and the serial number of the column array element is determined as "18".

[0057] It should be noted that along the same walking direction of the coal mining machine, when the first straight line distance, the second straight line distance and the third straight line distance obtained by the three distance measuring sensors are simultaneously less than or equal to the first threshold value, the straight line distances between each distance measuring sensor and the same column are actually measured, so the corresponding column code should also be the same.

[0058] Step 260: locating the first array element according to the array name of the first array and the serial number of the first array element; locating the second array element according to the array name of the second array and the serial number of the second array element; locating the third array element according to the array name of the third array and the serial number of the second array element.

[0059] According to the foregoing, the array name of the first array is "RR", the array name of the second array is "RZ", the array name of the third array is "RL", and the column code is "3", so the three groups of array elements located are: the first array element RR[3], the second array element RZ[3], and the third array element RL[3].

[0060] The processing order of the foregoing steps 250 and 270 can be changed or synchronized, and is not limited by the step number.

[0061] Step 270: storing the first straight-line distance obtained by the first distance sensor into the first array element; storing the second straight-line distance obtained by the second distance sensor into the second array element; and storing the third straight-line distance obtained by the third distance sensor into the third array element. The initial value of the first array element, the second array element, and the third array element is zero.

[0062] According to the foregoing, the first straight-line distance, the second straight-line distance, and the third straight-line distance are respectively stored into the first array element RR[3], the second array element RZ[3], and the third array element RL[3].

[0063] Step 280: updating the current column number recorded.

[0064] The updating of the current column number has been described in step 230, and will not be repeated here.

[0065] It needs to be particularly pointed out that, according to the operation instruction of the coal mining machine, the current column number recorded in the coal mining machine control module, and the second straight-line distance, when it is identified that the nearest detectable object is the last column in the first direction or the second direction, the first second straight-line distance meeting the condition obtained by the second distance sensor is stored into the column array, the condition being less than or equal to the first threshold value.

[0066] The specific identification process includes: according to the operation instruction of the coal mining machine, the first direction or the second direction can be identified. After adding one to the recorded current column number, it is judged whether it is equal to the total number N of columns in the first direction or the second direction, if yes, it indicates that the last column in the first direction or the second direction will be detected. Then when the second straight line distance changes from greater than the first threshold to less than or equal to the first threshold, it indicates that the last column in the first direction or the second direction is detected, at this time, only the second straight line distance less than or equal to the first threshold is directly taken as the column distance and stored in the corresponding column array.

[0067] Step 300: Calculate the average value of the second straight line distance of the non-zero value stored in the second array, which is used to represent the column distance, and store it in the column array corresponding to the direction identifier. The column array is located in the coal mining machine control module, and its array name matches the direction identifier, and the initial value is zero.

[0068] As mentioned before, the column has a certain width, so along the walking direction of the coal mining machine on the scraper conveyor, the point-to-point straight line distance between the reference point detected by each distance sensor and each column is usually multiple, so the second straight line distance corresponding to the same column naturally also has multiple. Therefore, the column distance here is represented by the average value of multiple distance values between the reference point and a single column, and the average value of the second straight line distance is used.

[0069] Specifically, the calculation and storage of three column distances in step 300 include the following steps: Step 310: When the first straight line distance, the second straight line distance or the third straight line distance changes from less than or equal to the first threshold to greater than the first threshold, stop storing data to the first array, the second array and the third array.

[0070] As described above, only when the first straight line distance, the second straight line distance or the third straight line distance all meet the condition of less than or equal to the first threshold, the three groups of data will be written into the first array, the second array and the third array respectively. Once one of them does not meet the writing condition, the data storage to the first array, the second array and the third array is stopped at the same time.

[0071] Step 320: Calculate the average value of the second straight line distance of the non-zero value stored in the second array, which is used to represent the column distance.

[0072] Step 330: Extract the direction identifier stored in the coal mining machine control module, and the direction identifier corresponds to the array name of the column array one by one to determine the array name of the column array.

[0073] As described above, the direction identifier is stored in the control module of the coal mining machine, and thus is directly extracted for use. It is assumed that the current direction identifier is "R". In view of the correspondence between the direction identifier and the array name of the column array, the array name can also directly adopt the first direction identifier "R".

[0074] Step 340: According to the column code corresponding to the second array element, the serial number of the column array element is determined.

[0075] As described above, the array element is positioned according to the array name and the serial number of the array element. The second array element RZ[3] corresponds to the array name "RZ" and the column code "3". According to the second array element RZ[3], the serial number of the column array element is determined to be "3".

[0076] Step 350: According to the array name of the column array and the serial number of the column array element, the column array element is positioned.

[0077] As described above, according to the array name "R" of the column array and the serial number "3" of the column array element, the column array element R[3] is positioned.

[0078] Step 360: The column distance is stored in the column array element. The initial value of the column array element is zero.

[0079] As described above, the average value calculated according to the second straight line distance of the non-zero value in the second array is stored in the column array element R[3].

[0080] Step 370: The first array, the second array and the third array are cleared.

[0081] After the above steps are completed, the first array, the second array and the third array are cleared, which is equivalent to being restored to the initial value, so as to be used for storing the first straight line distance, the second straight line distance and the third straight line distance corresponding to the column with the column code "4".

[0082] Step 400: After the coal mining machine completes the cutting operation required by the operation instruction, the control module of the coal mining machine sends the column array and the corresponding direction identifier to the electro-hydraulic control host, and clears the column array in the control module of the coal mining machine.

[0083] The step 400 also includes a pre-identification step of the coal mining machine completing the cutting operation required by the operation instruction. The operation instruction of the coal mining machine includes a one-way cutting instruction or a two-way cutting instruction. The one-way cutting instruction corresponds to one-cut cutting operation, and the two-way cutting instruction corresponds to two-cut cutting operation.

[0084] The identification process is as follows: When the operation instruction includes a one-way coal cutting instruction, if the current number of stands recorded in the coal winning machine control module reaches the second threshold value, it is determined that the coal winning machine completes the coal cutting operation required by the operation instruction.

[0085] The second threshold value can directly adopt the total number of stands in a single direction. For example, if there are N stands in a row, the second threshold value can be directly set to N. Therefore, when the operation instruction includes a one-way coal cutting instruction, as long as the current number of stands recorded in the coal winning machine control module reaches the second threshold value N, it is determined that the coal winning machine completes the coal cutting operation required by the operation instruction, i.e., the coal winning machine completes one cut of coal cutting operation.

[0086] When the operation instruction includes a two-way coal cutting instruction, the operation instruction further includes a reversing instruction. If the current number of stands recorded in the coal winning machine control module reaches the second threshold value N but the reversing instruction has not been triggered, the current number of stands is cleared to restart counting. This is equivalent to the coal winning machine executing a one-way coal cutting instruction and completing one cut of coal cutting operation.

[0087] When the current number of stands recorded in the coal winning machine control module reaches the second threshold value and the reversing instruction has been triggered, it is determined that the coal winning machine completes the coal cutting operation required by the operation instruction. This is equivalent to the coal winning machine completing two cuts of coal cutting operation.

[0088] Step 500: After receiving the stand array and the corresponding direction identifier, the electro-hydraulic master machine draws a working face straightness curve according to the stand array and the direction identifier.

[0089] Specifically, the working face straightness curve is drawn according to the walking direction of the coal winning machine represented by the direction identifier and the stand distance corresponding to each stand code.

[0090] In addition, the working face straightness curve can also be drawn according to the walking direction of the coal winning machine represented by the direction identifier and the support distance corresponding to each support number. Therefore, after receiving the stand array and the corresponding direction identifier sent by the coal winning machine control module, the electro-hydraulic master machine further includes the following steps: Step 510: According to the number of stands contained in each hydraulic support, the stand array elements storing non-zero values in the stand array are grouped according to the walking direction of the coal winning machine represented by the direction identifier and the order of the stand codes. Each hydraulic support is assigned a unique support number, and each support number matches a group of stand codes and direction identifiers corresponding to the stand array elements storing non-zero values. The stand code corresponds to the sequence number of the stand array element storing the non-zero value.

[0091] Step 520: The average value of the stand distance in each group of stand array elements storing non-zero values is calculated to represent the support distance. According to the matching relationship between the support number and the stand code and the direction identifier, the support distance is matched with the support number in the walking direction of the coal winning machine.

[0092] The following example illustrates the process of drawing the straightness curve of the working face, using the first, second, and third ranging sensors arranged from right to left, with the coal mining machine first moving along the first direction (from left to right) and then along the second direction (from right to left) for bidirectional coal cutting operations: For ease of understanding, assume there are N columns in a row (N is a positive integer). When the coal mining machine moves along the first direction, the initial value of the column code is "0", the first array is RR[M], the second array is RZ[M], the third array is RL[M], and the column array is R[M]. When the coal mining machine moves along the second direction, the initial value of the column code is "N+1", the first array is LR[M], the second array is LZ[M], the third array is LL[M], and the column array is L[M]. Here, M is a positive integer, and M is greater than N. The minimum distance between the distance sensor and other detectable objects besides the columns is greater than A. Therefore, the first threshold is set to A. Alternatively, to ensure better system applicability, an error value C can be set, the size of which depends on actual needs; that is, the first threshold is (A+C). For simplicity, the first threshold is set to A below. Each hydraulic support corresponds to two columns. The support number of the hydraulic support increases sequentially along the first direction and decreases sequentially along the second direction (similar to column coding).

[0093] The coal mining machine travels along the first direction, from column 1 to column N. First, the first distance sensor detects that the first straight-line distance RD between it and column 1 is ≤ A; then, the second distance sensor detects that the second straight-line distance ZD between it and column 1 is ≤ A; finally, the third distance sensor detects that the third straight-line distance LD between it and column 1 is ≤ A. At this time, the coal mining machine control module starts to store the three straight-line distances into the first array RR[M], the second array RZ[M], and the third array RL[M], until the first straight-line distance changes from RD≤A to RD>A, at which point it stops storing data into the first array RR[M], the second array RZ[M], and the third array RL[M]. Here we can assume that there are three arrays storing the straight-line distance data, specifically the array elements are RR[1], RR[2], RR[3], RZ[1], RZ[2], RZ[3], RL[1], RL[2], and RL[3].

[0094] The non-zero values stored in the second array RZ[M] (here, the initial values of the second array are all zero, and the array elements with the second straight line distance are non-zero values) are extracted, that is, the values in the second array elements RZ[1], RZ[2], RZ[3] are extracted, and the average of these values is calculated, which is the column distance corresponding to the No. 1 column. The average value is stored in the column array R[M], specifically in the column array element R[1]. After completion, the first array RR[M], the second array RZ[M] and the third array RL[M] are cleared to facilitate the reuse of these arrays.

[0095] When the third straight line distance LD changes from less than or equal to A to greater than A, it indicates that the detection of the No. 1 column has been completed, and at this time the current column number is updated to "1" to obtain the column code "1". In practice, the current column number can also be updated to "1" when the first straight line distance RD changes from less than or equal to A to greater than A to obtain the column code "1". Or when the second straight line distance ZD changes from less than or equal to A to greater than A, the current column number is updated to "1" to obtain the column code "1". The above are all possible and are not limited.

[0096] Then, the column distance corresponding to the No. 2 column is obtained by repeating the above steps, and stored in the column array element R[2], and then the first array RR[M], the second array RZ[M] and the third array RL[M] are cleared, the current column number is updated to "2" to obtain the column code "2", …, until the column distance of the last second column in the first direction is obtained and stored in the column array element R[N-1], and then the first array RR[M], the second array RZ[M] and the third array RL[M] are cleared, the current column number is updated to "N-1" to obtain the column code "N-1".

[0097] According to the current column number "N-1", adding one is "N", so it is known that the last column in the first direction will be detected. When the first distance sensor detects the first straight line distance RD≤A, it indicates that the detection of the last column begins. When the second distance sensor detects the second straight line distance ZD≤A, the value is directly stored in the column array element R[N]. At this time, the detection of all columns in the first direction is completed, that is, the one-cut coal operation is completed. The current column number is updated to "N".

[0098] According to the instruction of the two-way coal cutting operation, the current column number is cleared to prepare for re-counting.

[0099] According to the reversing command, the coal mining machine begins to move along the second direction, from column N to column 1. First, the third distance sensor detects that the third straight-line distance LD between it and column N is ≤ A; then, the second distance sensor detects that the second straight-line distance ZD between it and column N is ≤ A; finally, the first distance sensor detects that the first straight-line distance RD between it and column N is ≤ A. At this time, the coal mining machine control module begins to store the three straight-line distances into the third array LL[M], the second array LZ[M], and the first array LR[M], until the third straight-line distance changes from LD≤A to LD>A, at which point it stops storing data into the third array LL[M], the second array LZ[M], and the first array LR[M]. Here, it is also assumed that there are three arrays storing the straight-line distance data, specifically the array elements LL[1], LL[2], LL[3], LZ[1], LZ[2], LZ[3], LR[1], LR[2], and LR[3].

[0100] Extract the non-zero values ​​stored in the second array LZ[M] (here, the initial values ​​of the second array are all zero, and the array elements storing the second straight-line distance are non-zero values), that is, extract the values ​​in the second array elements LZ[1], LZ[2], and LZ[3], and calculate the average of these values. This average value is the column distance corresponding to column N. Store this average value in the column array L[M], specifically in the column array element L[N]. After completion, clear the third array LL[M], the second array LZ[M], and the first array LR[M] to make these arrays usable again.

[0101] When the first straight-line distance RD changes from less than or equal to A to greater than A, it indicates that the detection of post N is complete. At this time, the current post count is updated to "1", and the post code is "N". In practice, the current post count can also be updated to "1" when the third straight-line distance LD changes from less than or equal to A to greater than A, resulting in the post code "N". Alternatively, the current post count can be updated to "1" when the second straight-line distance ZD changes from less than or equal to A to greater than A, resulting in the post code "N". Both methods are acceptable and not limited to one another.

[0102] Next, repeat the above steps to obtain the column distance of the corresponding N-1 column and store it in the column array element L[N-1]. Then, clear the third array LL[M], the second array LZ[M], and the first array LR[M] to zero, update the current column count to "2", and obtain the column code "N-1", ... until the column distance of the second-to-last column in the second direction is obtained and stored in the column array element L[2]. Then, clear the third array LL[M], the second array LZ[M], and the first array LR[M] to zero, update the current column count to "N-1", and obtain the column code "2".

[0103] Based on the current number of columns "N-1", adding one gives "N", indicating that the last column in the second direction is about to be detected. When the third distance sensor detects that the third straight-line distance LD≤A, it indicates that the detection of the last column has begun. When the second distance sensor detects that the second straight-line distance ZD≤A, this value is directly stored in the column array element L[N]. At this point, the detection of all columns in the second direction is completed, thus completing the two-cut coal cutting operation. The current number of columns is updated to "N".

[0104] The current number of columns is updated to "N", and a reversal command is triggered, thus completing the bidirectional coal cutting operation. The coal mining machine control module sends 2N columns with non-zero values ​​and their corresponding direction indicators to the electro-hydraulic control host. Specifically, the column array R[N] and its corresponding direction indicator "R", and the column array L[N] and its corresponding direction indicator "L" are sent to the electro-hydraulic control host together, and the two sets of column arrays R[N] and L[N] are cleared to zero.

[0105] The electro-hydraulic control host receives R[1], R[2]...R[N] and L[1], L[2]...L[N], a total of 2N column array elements storing non-zero values. Among them, R[1], R[2]...R[N] are column array elements storing non-zero values ​​corresponding to each column in the first direction, and L[1], L[2]...L[N] are column array elements storing non-zero values ​​corresponding to each column in the second direction.

[0106] The column array is grouped as follows: R[1] and R[2] in the first direction are grouped together, corresponding to support number "1", and the corresponding support distance is stored in the support distance array element Y[1], where Y[1] is the average of R[1] and R[2]; R[3] and R[4] are grouped together, corresponding to support number "2", and the corresponding support distance is stored in the support distance array element Y[2], where Y[2] is the average of R[3] and R[4]... and so on. The last group is R[N-1] and R[N], corresponding to support number "N / 2", and the corresponding support distance is stored in the support distance array element Y[N / 2], where Y[N / 2] is the average of R[N-1] and R[N]. The second direction is grouped in the same way, which will not be repeated here. Since each hydraulic support corresponds to two columns, the above N should be an integer multiple of 2. However, it is possible that N is not an integer multiple of 2. In this case, the support number corresponding to the last group is "(N+1) / 2", and the corresponding support distance is stored in the support distance array element Y[(N+1) / 2], and the value stored in the support distance array element Y[(N+1) / 2] is equal to the value stored in the column array element R[N].

[0107] The average of the column distances stored in the array of columns corresponding to each support number (containing non-zero values) yields the support distance. This results in the support distances for each support number "1", "2", "3", ..., "N / 2" or "(N+1) / 2" in the first direction. Based on these support distances corresponding to each support number in the first direction, the straightness curve of the working surface in the first direction can be plotted, enabling straightness detection and guiding the next support movement operation to achieve automatic straightening of the working surface. The plotting of the straightness curve of the working surface in the second direction is done similarly to the first direction and will not be repeated here.

[0108] While specific embodiments of the present invention have been described above, those skilled in the art should understand that these are merely illustrative examples, and the scope of protection of the present invention is defined by the appended claims. Those skilled in the art can make various changes or modifications to these embodiments without departing from the principles and essence of the present invention, but all such changes and modifications fall within the scope of protection of the present invention.

Claims

1. A system for detecting straightness of a fully-mechanized coal mining face, the fully-mechanized coal mining face comprising a coal mining machine, a scraper conveyor and a plurality of hydraulic supports; wherein, The coal mining machine walks on the scraper conveyor; each hydraulic support comprises at least one column; the column is arranged opposite to the old pond side of the coal mining machine, characterized in that the detection system comprises: Three distance measuring sensors, which are the first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor arranged in parallel in sequence, are installed on the same side of the coal mining machine, and the first distance measuring sensor sequentially obtains the first straight line distance between the first reference point and each column, the second distance measuring sensor sequentially obtains the second straight line distance between the second reference point and each column, and the third distance measuring sensor sequentially obtains the third straight line distance between the third reference point and each column; wherein the first reference point, the second reference point and the third reference point are the same or different positions on the old pond side of the coal mining machine; A coal mining machine control module is used to control the operation of the coal mining machine according to the operation instruction, and the operation instruction comprises the walking direction information of the coal mining machine; the coal mining machine control module is also in communication connection with the three distance measuring sensors, and is used to receive the first straight line distance, the second straight line distance and the third straight line distance corresponding to each column, and when the first straight line distance, the second straight line distance and the third straight line distance are simultaneously less than or equal to the first threshold value, the column distance is calculated according to the second straight line distance and is stored in the column array corresponding to the direction identifier; wherein the direction identifier is generated according to the walking direction information of the coal mining machine and is stored in the coal mining machine control module; the array name of the column array matches the direction identifier; An electro-hydraulic control host is in communication connection with the coal mining machine control module, and is used to receive the column array and the corresponding direction identifier sent by the coal mining machine control module after the coal mining machine completes the coal cutting operation required by the operation instruction, and draw a working face straightness curve according to the column array and the direction identifier.

2. The system according to claim 1, characterized in that, The first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are arranged in parallel in sequence along the walking direction of the coal mining machine, the interval between the first distance measuring sensor and the third distance measuring sensor is not greater than the width of the column, and the interval between every two adjacent columns is greater than the width of the column.

3. A method for detecting straightness of a fully mechanized coal mining face, characterized in that, The detection method is suitable for the fully mechanized coal mining face straightness detection system as claimed in claim 1 or 2, and comprises the following steps: With the walking of the coal mining machine on the scraper conveyor, the first distance measuring sensor sequentially obtains the first straight line distance between the first reference point and each column, the second distance measuring sensor sequentially obtains the second straight line distance between the second reference point and each column, and the third distance measuring sensor sequentially obtains the third straight line distance between the third reference point and each column; wherein the first reference point, the second reference point and the third reference point are the same or different positions on the old pond side of the coal mining machine; The coal mining machine control module is used to control the operation of the coal mining machine according to the operation instruction, and the operation instruction comprises the walking direction information of the coal mining machine; the coal mining machine control module is also in communication connection with the three distance measuring sensors, and is used to receive the first straight line distance, the second straight line distance and the third straight line distance corresponding to each column, and when the first straight line distance, the second straight line distance and the third straight line distance are simultaneously less than or equal to the first threshold value, the column distance is calculated according to the second straight line distance and is stored in the column array corresponding to the direction identifier; wherein the direction identifier is generated according to the walking direction information of the coal mining machine and is stored in the coal mining machine control module; the array name of the column array matches the direction identifier; An electro-hydraulic control host is in communication connection with the coal mining machine control module, and is used to receive the column array and the corresponding direction identifier sent by the coal mining machine control module after the coal mining machine completes the coal cutting operation required by the operation instruction, and draw a working face straightness curve according to the column array and the direction identifier. The first distance measuring sensor, the second distance measuring sensor and the third distance measuring sensor are arranged in parallel in sequence along the walking direction of the coal mining machine, the interval between the first distance measuring sensor and the third distance measuring sensor is not greater than the width of the column, and the interval between every two adjacent columns is greater than the width of the column. The detection method is suitable for the fully mechanized coal mining face straightness detection system as claimed in claim 1 or 2, and comprises the following steps: With the walking of the coal mining machine on the scraper conveyor, the first distance measuring sensor sequentially obtains the first straight line distance between the first reference point and each column, the second distance measuring sensor sequentially obtains the second straight line distance between the second reference point and each column, and the third distance measuring sensor sequentially obtains the third straight line distance between the third reference point and each column; wherein the first reference point, the second reference point and the third reference point are the same or different positions on the old pond side of the coal mining machine; When the first straight line distance, the second straight line distance and the third straight line distance are simultaneously less than or equal to a first threshold value, the first straight line distance, the second straight line distance and the third straight line distance are respectively stored as values in a first array, a second array and a third array corresponding to a direction identifier in the order of acquisition; wherein the direction identifier is generated according to the walking direction information of the coal mining machine and stored in the coal mining machine control module; the first array, the second array and the third array are all located in the coal mining machine control module, the array names of which match the direction identifier, and the initial values of which are zero; An average value of the second straight line distance of the non-zero value stored in the second array is calculated to represent the column distance and stored in a column array corresponding to the direction identifier; the column array is located in the coal mining machine control module, the array name of which matches the direction identifier, and the initial value of which is zero; After the coal mining machine completes the coal cutting operation required by the operation instruction, the coal mining machine control module sends the column array and the corresponding direction identifier to the electro-hydraulic control host, and clears the column array in the coal mining machine control module; After receiving the column array and the corresponding direction identifier, the electro-hydraulic control host draws a working face straightness curve according to the column array and the direction identifier.

4. The method according to claim 3, characterized in that, When the first straight line distance, the second straight line distance and the third straight line distance are simultaneously less than or equal to a first threshold value, the first straight line distance, the second straight line distance and the third straight line distance are respectively stored as values in a first array, a second array and a third array corresponding to a direction identifier in the order of acquisition; wherein the direction identifier is generated according to the walking direction information of the coal mining machine and stored in the coal mining machine control module; the first array, the second array and the third array are all located in the coal mining machine control module, the array names of which match the direction identifier, and the initial values of which are zero; The walking direction information of the coal mining machine recorded in the coal mining machine control module is acquired to determine the walking direction of the coal mining machine during measurement, and the direction identifier is generated and stored in the coal mining machine control module; the walking direction of the coal mining machine includes a first direction and a second direction opposite to each other, and the direction identifier includes a first direction identifier and a second direction identifier corresponding to the walking direction of the coal mining machine; When the first straight line distance, the second straight line distance and the third straight line distance acquired by the three distance measuring sensors are simultaneously less than or equal to a first threshold value, the direction identifier is combined with a first sensor identifier corresponding to the first distance measuring sensor to generate a first array identifier, the first array identifier corresponds to the array name of the first array one by one; the direction identifier is combined with a second sensor identifier corresponding to the second distance measuring sensor to generate a second array identifier, the second array identifier corresponds to the array name of the second array one by one; the direction identifier is combined with a third sensor identifier corresponding to the third distance measuring sensor to generate a third array identifier, the third array identifier corresponds to the array name of the third array one by one; Obtaining the current column number recorded in the coal mining machine control module and the initial value of the column code corresponding to the direction identifier, and generating a column code; the column code corresponds to the serial number of the first array element storing a non-zero value corresponding to the first array identifier, the column code corresponds to the serial number of the second array element storing a non-zero value corresponding to the second array identifier, and the column code corresponds to the serial number of the third array element storing a non-zero value corresponding to the third array identifier; According to the correspondence between the first array identifier and the array name of the first array, the array name of the first array is determined; according to the correspondence between the second array identifier and the array name of the second array, the array name of the second array is determined; according to the correspondence between the third array identifier and the array name of the third array, the array name of the third array is determined; According to the correspondence between the column code and the serial number of the first array element storing a non-zero value corresponding to the first array identifier, the serial number of the first array element is determined; according to the correspondence between the column code and the serial number of the second array element storing a non-zero value corresponding to the second array identifier, the serial number of the second array element is determined; according to the correspondence between the column code and the serial number of the third array element storing a non-zero value corresponding to the third array identifier, the serial number of the third array element is determined; According to the array name of the first array and the serial number of the first array element, the first array element is located; according to the array name of the second array and the serial number of the second array element, the second array element is located; according to the array name of the third array and the serial number of the third array element, the third array element is located; The first straight line distance obtained by the first distance sensor is stored in the first array element; the second straight line distance obtained by the second distance sensor is stored in the second array element; the third straight line distance obtained by the third distance sensor is stored in the third array element; wherein the initial value of the first array element, the second array element and the third array element is zero; Updating the recorded current column number.

5. The method according to claim 4, characterized in that, The average value of the second straight line distance storing a non-zero value in the second array is calculated to represent the column distance, and is stored in the column array corresponding to the direction identifier, including the following steps: When the first straight line distance, the second straight line distance or the third straight line distance changes from less than or equal to the first threshold value to greater than the first threshold value, stop storing data to the first array, the second array and the third array; The average value of the second straight line distance storing a non-zero value in the second array is calculated to represent the column distance; Extracting the direction identifier stored in the coal mining machine control module, the direction identifier corresponds to the array name of the column array, so as to determine the array name of the column array; According to the column code corresponding to the second array element, the serial number of the column array element is determined; Locate a column array element according to an array name of the column array and a sequence number of the column array element; Store the column distance into the column array element; wherein an initial value of the column array element is zero; Clear the first array, the second array and the third array.

6. The method according to claim 5, characterized in that, The detection method further comprises a step of identifying a coal cutting operation required by the operation instruction of the coal mining machine, wherein the operation instruction of the coal mining machine comprises a one-way coal cutting instruction or a two-way coal cutting instruction. When the operation instruction comprises the one-way coal cutting instruction, if the current column number recorded in the coal mining machine control module reaches a second threshold value, it is determined that the coal mining machine completes the coal cutting operation required by the operation instruction. When the operation instruction comprises the two-way coal cutting instruction, the operation instruction further comprises a reversing instruction; if the current column number recorded in the coal mining machine control module reaches the second threshold value but the reversing instruction is not triggered, the current column number is cleared to re-count; if the current column number recorded in the coal mining machine control module reaches the second threshold value and the reversing instruction is triggered, it is determined that the coal mining machine completes the coal cutting operation required by the operation instruction.

7. The method according to claim 6, characterized in that, The detection method further comprises: When the closest detectable object is the last column in the first direction or the second direction according to the operation instruction of the coal mining machine and the current column number and the second straight line distance recorded in the coal mining machine control module, the first second straight line distance meeting the condition obtained by the second ranging sensor is stored in the column array; the condition is less than or equal to a first threshold value.

8. The method according to any one of claims 4-7, characterized in that, After the electric-hydraulic master machine receives the column array and the corresponding direction identifier, it further comprises: According to the number of columns contained in each hydraulic support, the column array elements in the column array storing non-zero values are grouped according to the walking direction of the coal mining machine represented by the direction identifier and the order of the column codes; each hydraulic support is assigned a unique support number, and each support number matches the column code and the direction identifier corresponding to the column array element storing non-zero values; the column code corresponds one-to-one to the sequence number of the column array element storing non-zero values; The column distances in each group of column array elements storing non-zero values are averaged to represent the support distance; wherein according to the matching relationship between the support number and the column code and the direction identifier, the support distance corresponds one-to-one to the support number in the walking direction of the coal mining machine.

9. The method according to claim 8, characterized in that, The working face straightness curve is drawn according to the walking direction of the coal mining machine represented by the direction identifier and the support distance corresponding to each support number.

10. The method according to any one of claims 3-7, characterized in that, The working face straightness curve is drawn according to the walking direction of the coal mining machine represented by the direction identifier and the column distance corresponding to each column code.

Images