Method and device for processing upward-sliding and downward-sliding working conditions of scraper conveyer

Abstract

The invention provides a processing method and device for upward-sliding and downward-sliding working conditions of a scraper conveyer, and belongs to the technical field of coal mine underground operation automation. The method comprises the steps that the current working condition of the scraper conveyor is judged according to the distance between the two ends of the scraper conveyor in the advancing direction of a working face and a roadway wall and the equipment length of the scraper conveyor in the advancing direction of the working face; wherein the current working conditions comprise a normal working condition, an upward moving working condition and a downward sliding working condition; if the current working condition is upward moving or downward sliding, the cutter correction amount is determined according to the length of the working face, the propelling cutting depth of the cutter and the propelling degree of the working face; and eliminating the upward moving working condition or the downward sliding working condition according to the distance between the two ends of the scraper conveyor in the advancing direction of the working face and the roadway wall and the cutter correction amount. The adjusting distance needed by the working face can be calculated in real time, the cutting track is changed in a cutter adding or cutter flail mode, and the positions of the working face and the scraper conveyor are corrected in real time.

Description

Technical Field

[0001] This invention relates to the field of automation technology for underground coal mine operations, specifically to a method and device for handling the upward and downward slippage of a scraper conveyor. Background Technology

[0002] In fully mechanized mining faces, the condition of the scraper conveyor is an important indicator for measuring the quality of face advancement, among which upward and downward movement have the greatest impact on the working condition of the scraper conveyor.

[0003] In existing technologies, on inclined fully mechanized mining faces, to prevent scraper conveyors from swerving upwards or downwards, it is usually necessary to control the face attitude through methods such as adjusting the tilt. In fact, the upward or downward movement of a scraper conveyor is closely related to the displacement difference between its head and tail during the advancement process. By accurately grasping these data, the offset state of the working face can be more effectively reflected.

[0004] However, to date, there is still a lack of an effective and practical method to directly reflect the upward and downward movement of the working face, as well as a lack of technical means to efficiently complete the upward and downward movement adjustment. As a result, the working face posture adjustment often relies solely on manual experience, and this adjustment method is inefficient and slow to respond, making it difficult to meet the needs of modern intelligent fully mechanized mining equipment. Summary of the Invention

[0005] The present application provides a method and apparatus for handling the upward and downward slipping conditions of a scraper conveyor, with the aim of solving at least some of the aforementioned technical problems existing in the prior art.

[0006] To achieve the above objectives, firstly, the present invention provides a method for handling the upward and downward sliding conditions of a scraper conveyor, comprising: The current operating condition of the scraper conveyor is determined based on the distance between both ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current operating condition includes: normal operating condition, upward movement operating condition, and downward movement operating condition; If the current working condition is upward movement or downward movement, the cutter correction amount is determined based on the working face length, the cutter advance depth, and the working face advance degree. The upward or downward movement of the scraper conveyor is eliminated based on the distance between its two ends and the roadway wall along the working face advance direction, as well as the cutter correction amount.

[0007] In some embodiments of this application, determining the current operating condition of the scraper conveyor based on the distances between its two ends and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction includes: The offset angle of the scraper conveyor is determined based on the distances between the two ends and the tunnel wall and the length of the equipment. The current working condition is determined based on the distances between the two ends and the tunnel wall, as well as the offset angle.

[0008] In some embodiments of this application, determining the current working condition based on the distances between the two ends and the tunnel wall and the offset angle includes: The distance between the scraper conveyor and the tunnel wall is determined based on the distances between the two ends and the tunnel wall, as well as the offset angle. The current operating condition is determined based on the distance between the scraper conveyor and the tunnel wall.

[0009] In some embodiments of this application, determining the current operating condition based on the distance between the scraper conveyor and the roadway wall includes: If the distance between the head of the scraper conveyor and the corresponding roadway wall is greater than a preset first threshold, the current working condition is determined to be the upward movement working condition. If the distance between the tail of the scraper conveyor and the corresponding tunnel wall is greater than a preset second threshold, the current working condition is determined to be the sliding working condition. Otherwise, the current operating condition is determined to be a normal operating condition.

[0010] In some embodiments of this application, the distance between the two ends and the roadway wall is obtained by laser rangefinders pre-installed at both ends of the scraper conveyor along the working face advance direction; The working face advance is measured by a camera pre-set on the scraper conveyor and a marking ruler on the roadway wall; the working face advance includes: the working face head advance and the working face tail advance; The cutter correction amount is determined based on the working face length, cutter depth of cut, and working face advance rate, including: The pseudo-inclination of the working face is determined based on the advance of the working face head, the advance of the working face tail, and the length of the working face; The cutter correction amount is determined based on the cutting depth of the cutter and the pseudo-inclination of the working surface.

[0011] In some embodiments of this application, eliminating the upward slippage or downward slippage condition based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the cutter correction amount includes: The upward offset is determined based on the distance between the scraper conveyor head and the corresponding tunnel wall, and the first threshold value; or The downward offset is determined based on the distance between the tail of the scraper conveyor and the corresponding tunnel wall and the second threshold. Perform the following cyclic operation until the total amount of cutter correction equals the upward offset or the downward offset: The cutting process involves applying the cutting tool correction amount to either the blade during each cut or the blade during a flick.

[0012] Secondly, this application provides a device for handling the upward and downward sliding conditions of a scraper conveyor, the device comprising: The working condition determination module is used to determine the current working condition of the scraper conveyor based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current working condition includes: normal working condition, upward movement working condition and downward movement working condition; The cutter correction amount determination module is used to determine the cutter correction amount based on the working face length, cutter advance depth and working face advance degree when the current working condition is the upward movement or the downward movement. An abnormal working condition elimination module is used to eliminate the upward slippage condition or the downward slippage condition based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the cutter correction amount.

[0013] In some embodiments of this application, the working condition determination module includes: The offset angle determination unit is used to determine the offset angle of the scraper conveyor based on the distance between the two ends and the roadway wall and the length of the equipment. The working condition determination unit is used to determine the current working condition based on the distance between the two ends and the roadway wall and the offset angle.

[0014] In some embodiments of this application, the working condition determination unit includes: The distance determination unit is used to determine the distance between the scraper conveyor and the tunnel wall based on the distance between the two ends and the tunnel wall and the offset angle; The working condition determination subunit is used to determine the current working condition based on the distance between the scraper conveyor and the roadway wall.

[0015] In some embodiments of this application, the working condition determination subunit includes: The upward movement condition determination unit is used to determine the current working condition as the upward movement condition if the distance between the head of the scraper conveyor and the corresponding roadway wall is greater than a preset first threshold. The sliding condition determination unit is used to determine the current condition as the sliding condition if the distance between the tail of the scraper conveyor and the corresponding roadway wall is greater than a preset second threshold. The normal operating condition determination unit is used to determine that the current operating condition is a normal operating condition if otherwise.

[0016] In some embodiments of this application, the distance between the two ends and the roadway wall is obtained by laser rangefinders pre-installed at both ends of the scraper conveyor along the working face advance direction; The working face advance is measured by a camera pre-set on the scraper conveyor and a marking ruler on the roadway wall; the working face advance includes: the working face head advance and the working face tail advance; The cutter correction amount determination module determines the cutter correction amount based on the working face length, cutter depth of cut, and working face advance rate, including: The false inclination determination unit for the working face is used to determine the false inclination of the working face based on the advance of the working face head, the advance of the working face tail, and the length of the working face. The cutter correction amount determination unit is used to determine the cutter correction amount based on the cutter advance depth and the pseudo-inclination of the working surface.

[0017] In some embodiments of this application, the abnormal operating condition elimination module includes: An upward offset determination unit is used to determine the upward offset based on the distance between the scraper conveyor head and the corresponding roadway wall and the first threshold; or The sliding offset determination unit is used to determine the sliding offset based on the distance between the tail of the scraper conveyor and the corresponding roadway wall and the second threshold. A cyclic operation unit is used to perform the following cyclic operation until the total amount of cutter correction equals the upward offset or the downward offset: The cutter correction amount application unit is used to apply the cutter correction amount to the blade during each cutting process, or to apply the cutter correction amount to the blade.

[0018] Thirdly, this application provides a computer program product, including a computer program / instructions, which, when executed by a processor, implements the steps of a method for handling the upward and downward sliding conditions of a scraper conveyor.

[0019] Fourthly, this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of a method for handling the upward and downward sliding conditions of a scraper conveyor.

[0020] Fifthly, this application provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of a method for handling the upward and downward sliding conditions of a scraper conveyor.

[0021] As described above, this application provides a method and apparatus for handling upward and downward sliding conditions of a scraper conveyor. The method includes: first, determining the current working condition of the scraper conveyor based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current working condition includes: normal working condition, upward sliding condition, and downward sliding condition; next, if the current working condition is upward sliding or downward sliding, determining the cutter correction amount based on the working face length, the cutter advancing depth, and the working face advancing degree; finally, eliminating the upward sliding condition or downward sliding condition based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the cutter correction amount.

[0022] The method provided in this application integrates the advance rate of the scraper conveyor along the working surface with its offset state, which can calculate the required adjustment distance of the working surface in real time, and change the cutting trajectory by adding or throwing the blade, thereby realizing real-time correction of the working surface and the position of the scraper conveyor. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart illustrating a method for handling the upward and downward sliding conditions of a scraper conveyor, as provided in an embodiment of the present invention. Figure 2 This is a schematic diagram of the working condition where the scraper conveyor is parallel to the roadway wall, as provided in an embodiment of the present invention. Figure 3 This is a flowchart illustrating step 300 provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the working condition where the scraper conveyor is offset to the left parallel to the roadway wall, as provided in an embodiment of the present invention. Figure 5 This is a schematic diagram of the working condition where the scraper conveyor is offset to the right relative to the roadway wall in an embodiment of the present invention; Figure 6 This is a flowchart illustrating step 102 provided in an embodiment of the present invention; Figure 7 This is a flowchart illustrating step 1022 provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the digital model of the working surface provided in an embodiment of the present invention; Figure 9This is a flowchart illustrating step 200 provided in an embodiment of the present invention; Figure 10 This is a flowchart illustrating step 300 provided in an embodiment of the present invention; Figure 11 This is a flowchart illustrating a method for handling the upward and downward sliding conditions of a scraper conveyor, provided in a specific application example of the present invention. Figure 12 This is a logic diagram of a method for handling the upward and downward sliding conditions of a scraper conveyor, provided in a specific application example of the present invention. Figure 13 This is a structural diagram of a system for handling the upward and downward sliding conditions of a scraper conveyor, provided in a specific application example of the present invention. Figure 14 This is a schematic diagram of a device for handling the upward and downward sliding conditions of a scraper conveyor provided in an embodiment of the present invention; Figure 15 This is a schematic diagram of the working condition determination module 10 provided in an embodiment of the present invention; Figure 16 This is a schematic diagram of the working condition determination unit 10b provided in an embodiment of the present invention; Figure 17 This is a schematic diagram of the working condition determination subunit 10b2 provided in an embodiment of the present invention; Figure 18 This is a schematic diagram of the cutter correction amount determination module 20 provided in an embodiment of the present invention; Figure 19 This is a schematic diagram of the abnormal operating condition elimination module 30 provided in an embodiment of the present invention; Figure 20 This is a schematic diagram of the structure of an electronic device in an embodiment of the present invention. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0027] It should be noted that the terms "comprising" and "having" and any variations thereof in the specification, claims and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are explicitly listed, but may include other steps or units that are not explicitly listed or that are inherent to such process, method, product or device.

[0028] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0029] See Figure 1 In some embodiments of this application, a method for handling the upward and downward sliding condition of a scraper conveyor includes the following: Step 100: Determine the current working condition of the scraper conveyor based on the distance between both ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current working condition includes: normal working condition, upward movement working condition and downward movement working condition; Step 200: If the current working condition is upward movement or downward movement, determine the cutter correction amount based on the working face length, cutter advance depth, and working face advance degree; Step 300: Eliminate the upward slippage condition or the downward slippage condition based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the cutter correction amount.

[0030] As described above, this application provides a method for handling the upward and downward sliding conditions of a scraper conveyor, comprising: first, determining the current working condition of the scraper conveyor based on the distance between the two ends of the scraper conveyor along the working face advancement direction and the roadway wall, and the length of the scraper conveyor along the working face advancement direction; wherein, the current working condition includes: normal working condition, upward sliding condition, and downward sliding condition; next, if the current working condition is upward sliding or downward sliding, determining the cutter correction amount based on the working face length, the cutter advancement depth, and the working face advancement degree; finally, eliminating the upward sliding condition or downward sliding condition based on the distance between the two ends of the scraper conveyor along the working face advancement direction and the cutter correction amount.

[0031] The method provided in this application can calculate the required working surface adjustment distance in real time and change the cutting trajectory by adding or throwing the blade, thereby achieving real-time correction of the working surface and the position of the scraper conveyor.

[0032] In existing technologies, methods for monitoring the upward and downward movement of scraper conveyors fall into two categories: one relies on manual, periodic measurements of the distance between the conveyor head and the roadway centerline or roadway wall to determine the deviation; this method is simple but lacks real-time and continuous accuracy. The other uses laser point cloud technology to obtain the spatial position of the conveyor head, achieving higher precision measurement; however, this system is complex, highly susceptible to environmental influences, and difficult to apply stably over a long period during face advancement. Overall, existing methods are unable to directly, continuously, and effectively reflect the dynamic state of the scraper conveyor's upward and downward movement, nor can they provide a reliable basis for rapid adjustments.

[0033] Specifically, manual measurement is a commonly used method. This involves on-site personnel periodically measuring the distance between the scraper conveyor's head or tail and the roadway centerline (or roadway wall) during the face's advance. Changes in distance are used to determine if upward or downward movement has occurred. In some mines, rulers pointing towards the roadway wall are installed at locations such as transfer conveyors, with a fixed gap of approximately the width of a worker between the ruler and the wall. If a worker can pass through normally, the scraper conveyor is considered to be in normal condition; if passage is impossible or the gap is significantly larger, further measurement is required to determine the amount of upward or downward movement. This method has significant shortcomings, including the inability to achieve continuous monitoring, poor real-time performance, and measurement results that are easily affected by operator experience, on-site environment, and visibility conditions, leading to insufficient accuracy. Furthermore, it requires frequent on-site operations, resulting in low efficiency and certain operational safety risks. Overall, it fails to meet the requirement for stable and accurate judgment of the scraper conveyor's upward or downward movement during face advancement.

[0034] Laser point cloud technology is another method used to measure the upward or downward movement of scraper conveyors. Its basic principle is to deploy laser scanning equipment at the working face to collect high-density point cloud data of the spatial distance between the conveyor head and the roadway wall. The spatial position change of the conveyor head relative to the roadway wall is reconstructed from the point cloud data to determine whether upward or downward movement has occurred. This method has high spatial measurement accuracy and can acquire relatively complete three-dimensional position data. However, this method also has certain shortcomings: the deployment of laser point cloud equipment is complex; it is sensitive to environmental factors such as dust, spray, and coal dust obstruction at the working face, which can easily lead to high data noise or incomplete scanning; the point cloud data volume is enormous, requiring strong computing power for processing, making continuous, real-time status identification difficult; at the same time, the equipment cost is high, maintenance is extensive, and long-term stable operation in the narrow and variable underground environment is difficult. Overall, although laser point cloud technology can improve measurement accuracy, its comprehensive applicability is still insufficient and cannot meet the needs of real-time monitoring and rapid adjustment in fully mechanized mining faces.

[0035] To address the aforementioned problems, this invention provides a method for handling the upward and downward sliding condition of a scraper conveyor, as described in steps 100 to 300. For step 100, as... Figure 2 As shown in the figure, the distance h between the two blue dots is the length of the scraper conveyor along the working face's advancing direction. l 1 and l 2 represents the distances between the left and right ends of the scraper conveyor along the working face and the roadway wall. These two distances are obtained by measuring the laser rangefinders pre-set at the blue dots in the figure.

[0036] Step 100, when implemented, specifically refers to the vertical distance between the head and tail of the scraper conveyor relative to the centerline of the roadway (via...). l 1 and l 2) This is used as the main basis for judging its deviation status: when the distance at the head is greater than the set reference value, it is determined that the scraper conveyor is moving upward; when the distance at the tail is greater than the set value, it is determined that it is moving downward.

[0037] Understandably, by equipping the scraper conveyor with an independent laser rangefinder, the distance between the scraper conveyor and the tunnel wall can be continuously and stably obtained, avoiding the problems of strong intermittency and poor real-time performance of traditional manual measurement, thereby realizing continuous real-time monitoring of the scraper conveyor's attitude.

[0038] For step 200, the angle pseudo-inclination of the working surface is first determined by the working surface length and the working surface advance. Then, the cutting tool correction amount is determined by the cutting depth of the cutting tool and the pseudo-inclination.

[0039] For step 300, during each coal cutting process, the cutter correction amount from step 200 is applied to the cutter. Specifically, the difference in the advance of the face head and tail is adjusted by adding / throwing the cutter to reduce the offset of the face scraper conveyor.

[0040] In some embodiments of this application, see Figure 3 Step 100, determining the current operating condition of the scraper conveyor based on the distances between its two ends and the roadway wall along the working face's advancing direction and the equipment length of the scraper conveyor along the working face's advancing direction, includes: Step 101: Determine the offset angle of the scraper conveyor based on the distances between the two ends and the tunnel wall and the length of the equipment; See Figure 4 as well as Figure 5 When the scraper conveyor deviates obliquely, the ranging values ​​of the two laser rangefinders will deviate from the head / tail offset values. The offset angle of the scraper conveyor is calculated based on the installation distance h of the laser rangefinders (i.e., the equipment length) and the ranging deviation value. .

[0041]

[0042] Step 102: Determine the current working condition based on the distance between the two ends and the tunnel wall and the offset angle.

[0043] Specifically, the current distance between the scraper conveyor and the tunnel wall is determined based on the distance between both ends and the tunnel wall and the offset angle. Then, the type of the current working condition is determined based on the relationship between the current distance and the set value.

[0044] In some embodiments of this application, see Figure 6 Step 102 includes: Step 1021: Determine the distance between the scraper conveyor and the tunnel wall based on the distances between the two ends and the tunnel wall and the offset angle; See also Figure 4 as well as Figure 5 Using the centers of the two laser sensors as the base points, combined with the offset angle The vertical distance between the scraper conveyor and the roadway wall was obtained. .

[0045]

[0046] Step 1022: Determine the current working condition based on the distance between the scraper conveyor and the tunnel wall.

[0047] Specifically, the type of current working condition is determined based on the relationship between the current distance between the scraper conveyor and the tunnel wall and the preset value.

[0048] In some embodiments of this application, see Figure 7 Step 1022 includes: Step 10221: If the distance between the head of the scraper conveyor and the corresponding tunnel wall is greater than a preset first threshold, the current working condition is determined to be the upward movement working condition; Specifically, the standard channel width of the working face roadway is used as the first threshold and compared with the actual vertical distance between the scraper conveyor and the roadway wall to determine the "upward and downward slipping" type of the scraper conveyor. If the actual vertical distance of the conveyor head is... If the value exceeds the set threshold, the scraper conveyor is determined to be in an upward-moving condition. Step 10222: If the distance between the tail of the scraper conveyor and the corresponding tunnel wall is greater than a preset second threshold, the current working condition is determined to be a downward sliding condition. If the actual vertical distance of the tail If the deviation exceeds the set threshold, the scraper conveyor is determined to be in a downward sliding condition. The upward / downward offset on the working surface is recorded as follows: .

[0049] Step 10223: Otherwise, determine that the current operating condition is a normal operating condition.

[0050] In some embodiments of this application, the distance between the two ends and the roadway wall is obtained by laser rangefinders pre-installed at both ends of the scraper conveyor along the working face advance direction; See Figure 2 , Figure 4 as well as Figure 5 Two laser rangefinders are arranged laterally along the scraper conveyor on the same straight line (the two blue dots in the figure), with their emission directions both pointing towards the tunnel wall. The two rangefinders independently acquire the instantaneous distances from the left and right sides of the conveyor head to the tunnel wall. Since the two rangefinders share the same installation reference position, their measurement results can be directly used for difference calculation. By comparing the difference in distances between the left and right sides, the parallelism between the scraper conveyor and the tunnel wall can be determined. Based on the distance difference of the laser rangefinders, the offset angle of the scraper conveyor and the actual vertical distance from the conveyor head to the tunnel wall are calculated. Specifically, a) if the distances on both sides are similar, the scraper conveyor is parallel to the tunnel; b) if the distance difference exceeds a threshold, the conveyor head is obliquely offset relative to the tunnel.

[0051] It should be noted that laser rangefinders can be replaced by other non-contact distance sensors, including but not limited to: ultrasonic rangefinders, millimeter-wave / radar rangefinders, infrared rangefinder modules, depth sensors based on structured light or Time of Flight (ToF), and 3D vision rangefinder systems based on binocular cameras. These sensors can all achieve real-time measurement of the distance from the machine's front and rear ends to the tunnel wall, thereby determining parallelism and offset.

[0052] The progress of the working face is measured by a camera pre-set on the scraper conveyor and a marker ruler on the tunnel wall; Specifically, the marker ruler is 1 meter long and divided into decimeter units, suspended from the machine head position along the roadway to the working face stop line. It provides a continuously identifiable reference point for the advance rate (a video camera is aimed at the marker ruler area on the roadway wall, and image recognition technology is used to accurately read the decimeter scale numbers on the marker ruler). By identifying the scale numbers on the marker ruler, the advance coordinates of the machine head in the roadway direction can be obtained. Based on the machine head offset angle, the coordinate points are corrected in real time, achieving automatic calibration and accurate measurement of the machine head's advance rate.

[0053] It should be noted that the method of identifying the scale markings using video cameras can be replaced by other position identification technologies, including: RFID (Radio Frequency Identification) positioning tags, UWB (Ultra-Wideband) positioning tags, inertial navigation units (IMU) combined with odometer calculation, laser scanning marker point identification technology, and fiber optic grating (FBG) array displacement measurement. All of these methods can be used to obtain the propulsion position of the nose and tail of the aircraft, meeting the real-time measurement requirements of the working face's propulsion.

[0054] The decimeter scale ruler can be replaced by other forms of positioning reference, including: reflective strips, QR code strips, color-coded labels, high-contrast optical positioning strips, and luminous dot arrays. As long as it can be accurately identified by a camera or other recognition device, it can achieve the same function.

[0055] In some embodiments of this application, see Figure 8 The working face advance includes: working face head advance a and working face tail advance b; In some embodiments of this application, see Figure 9 Step 200 includes: Step 201: Determine the pseudo-inclination of the working face based on the advance of the working face head, the advance of the working face tail, and the length of the working face; Specifically, the pseudo-inclination of the working surface is obtained by the following formula. β :

[0056] In the formula, a is the advance of the machine head on the working face, b is the advance of the machine tail on the working face, and H is the length of the working face.

[0057] Step 202: Determine the cutter correction amount based on the cutter advance depth and the pseudo-inclination of the working surface.

[0058] Specifically, step 202 is implemented using the following formula:

[0059] In the formula, D is the cutter correction amount, and D is the cutter advance depth.

[0060] In some embodiments of this application, see Figure 10 Step 300 includes: Step 301A: Determine the upward offset based on the distance between the scraper conveyor head and the corresponding roadway wall and the first threshold; or Step 301B: Determine the downward offset based on the distance between the tail of the scraper conveyor and the corresponding tunnel wall and the second threshold. For steps 301A and 301B, one of these two steps must be selected. That is, it is necessary to determine in advance whether the scraper conveyor is in an upward or downward working condition, and select step 301A or step 301B according to the determined working condition.

[0061] Step 302: Perform the following cyclic operation until the total amount of cutter correction equals the upward offset or the downward offset: Step 303: Apply the cutter correction amount to the cutter during each cutting process by adding a cutter or applying the cutter correction amount to the cutter.

[0062] In steps 302 and 303, the difference in the advance of the machine head and tail of the working face is adjusted by adding / throwing cutters to reduce the offset of the scraper conveyor on the working face. Next, by adjusting the pseudo-inclination, with each advance of the cutter (assuming the working face will not shift due to other factors during the coal cutting cycle), the scraper as a whole shifts in the opposite direction of the shift. The correction amount, until At that time, the correction of the downward movement on the working surface was completed.

[0063] Specifically, when the safety exit width at the machine head is narrower than the standard, the working face rises upwards. In this case, additional cutting is performed at the machine head, or cutting is corrected by throwing the cutting tool at the machine tail. Conversely, when the safety exit width at the machine tail is narrower than the standard, the working face slides downwards. In this case, additional cutting is performed at the machine tail, or cutting is corrected by throwing the cutting tool at the machine head. The overall direction of the working face's advance is adjusted by changing the difference in the advance rate between the machine head and tail. The specific cutting / throwing strategies are as follows: Adding cutters: After the coal cutter cuts off the triangular coal at the end of the working face, it continues cutting coal normally towards the middle of the working face. The support frame moves in tandem with the coal cutter, decreasing gradually from the end frame towards the middle of the working face. Specifically, the support frame moving distance at the end of the working face is 960mm (the standard moving distance per cut on the working face). When the coal cutter reaches the middle of the working face, the support frame moving distance gradually decreases to 0. At this point, the lagging support frame is aligned, the support push rod is extended, and the scraper conveyor is leveled. After the conveyor is completed, it reverses direction to pull the coal cutter, cutting coal to the end of the working face to complete the added cutting. The support frame is then pulled back, the scraper conveyor is extended, and the added cutting is finished.

[0064] Cutting with the cutter: The coal cutter cuts coal from the middle of the working face towards the leading edge. The support frame moves along with the coal cutter, starting from the middle and moving towards the end of the working face. The moving step distance decreases progressively, starting at 960mm in the middle (standard moving step distance per cut on the working face). When the coal cutter reaches the end of the working face, the moving step distance of the support frame gradually decreases to 0. After the support frame moves, the conveyor is pushed forward. At this point, after the coal cutter has cut through the end of the working face, the conveyor is in a straight line, pulling the coal cutter in the opposite direction to begin cutting coal to the other end of the working face. The cutting with the cutter is then complete.

[0065] As described above, to address the problems of discontinuous and insufficient real-time monitoring of upward and downward slippage in existing scraper conveyors, and the inability to effectively guide workface adjustments, this application proposes a method for handling upward and downward slippage conditions in scraper conveyors, including: First, two laser rangefinders and one video camera are installed on the scraper conveyor at the head of the scraper conveyor. A marker ruler is then suspended at the same height on the roadway wall along the mining direction. The marker ruler is graduated in decimeters, 1 meter in length, and extends from the head of the conveyor to the stop line of the working face. The laser rangefinders are used to measure the distance between the scraper conveyor and the roadway wall in real time. By comparing the distance data obtained from the two rangefinders, the parallelism between the scraper conveyor and the roadway wall can be accurately determined. The camera uses image recognition technology to automatically identify the digital graduations on the marker ruler, thereby obtaining the geographical coordinates along the roadway direction. This enables the calibration and precise measurement of the head's advance, ensuring the accuracy and continuity of the advance data.

[0066] Next, a laser rangefinder and a video camera were also installed at the motor cover position at the tail of the scraper conveyor to obtain information on the parallelism between the tail and the roadway, as well as the propulsion data of the tail, using the same measurement and recognition methods.

[0067] Finally, by calculating and analyzing the difference in advance between the machine head and tail and the parallelism with the roadway, and importing these real-time measurement data into the digital floor model of the working face, the working face posture is calculated using the floor model, thereby deriving adjustment amounts such as cutter addition and cutter throwing, realizing automatic quantitative straightening of the working face and real-time correction of the upward and downward slippage problem of the scraper conveyor. Compared with the prior art, the present invention has the following beneficial effects: 1) Achieve continuous real-time monitoring of the upward and downward movement of the scraper conveyor.

[0068] By arranging independent laser rangefinders and video cameras at the head and tail of the machine, the distance between the scraper conveyor and the roadway wall and the advance coordinates can be continuously and stably obtained, avoiding the problems of strong intermittency and poor real-time performance of traditional manual measurement, thereby realizing continuous real-time monitoring of the scraper conveyor's attitude.

[0069] 2) Significantly improves the accuracy of parallelism and propulsion measurement of scraper conveyors.

[0070] Two laser rangefinders are arranged along the same baseline. By calculating the distance difference, the parallelism between the equipment and the roadway, as well as the offset angle of the scraper conveyor's head / tail, can be corrected in real time to obtain the actual vertical distance from the scraper conveyor's head / tail to the roadway wall. Video recognition of the scale markings automatically acquires precise advance coordinates, and real-time corrections are made to the coordinates based on the head / tail offset angle, achieving automatic calibration and accurate measurement of the head / tail advance. The entire measurement process does not rely on human experience, and the data is objective and reliable.

[0071] 3) Accurately identify upward, downward and offset movements to achieve quantitative judgment.

[0072] This invention inputs the difference in propulsion between the head and tail of the machine and the parallelism data into a digital base plate model. Through calculation, key parameters such as upward slippage, downward slippage, and horizontal offset can be obtained, realizing the quantitative and visual judgment of the offset state of the scraper conveyor. This solves the problem that the existing technology cannot directly reflect the degree of upward slippage.

[0073] 4) To achieve automated adjustment and calculation of the cutting and throwing of the coal mining machine.

[0074] By analyzing the working face posture using a digital base plate model, the corresponding adjustment amount and direction of adding or throwing the cutter are automatically generated, making the straightening of the working face more targeted and precise. This provides a reliable basis for automating the adjustment strategy of the coal mining machine and improves the control efficiency of the working face.

[0075] 5) Improve the quality of face advancement and the operational stability of the scraper conveyor.

[0076] By timely monitoring and smooth adjustment of the scraper conveyor's offset status, problems such as equipment jamming, chain groove wear, and reduced transportation efficiency caused by upward and downward movement can be effectively prevented, thereby improving the overall advancement quality of the fully mechanized mining face and the long-term stable operation capability of the scraper conveyor.

[0077] 6) The system is highly adaptable, easy to deploy, and has low maintenance costs.

[0078] The laser ranging and video recognition equipment used is simple in structure and easy to install. It can work stably in complex environments such as underground dust and spray. The overall system hardware cost and maintenance cost are far lower than the laser point cloud solution, and it has good engineering promotion value.

[0079] To further illustrate this solution, this application also provides a specific implementation method for handling the upward and downward sliding conditions of a scraper conveyor, see [link to relevant documentation]. Figure 11 as well as Figure 12 Specifically, it includes the following:

[0080] The purpose of this invention is to provide a practical measurement method for continuously, in real-time, and stably acquiring the positions of the scraper conveyor head and tail, as well as the advance rate of the scraper conveyor, in a fully mechanized mining face. Based on this method, and combined with face information, a digital floor model is used for fusion calculations to accurately determine the relative relationship between the scraper conveyor and the roadway direction. This enables automated or semi-automated decision support for adjustment strategies such as adding and throwing cutters on the face, effectively solving the problems of poor real-time performance, insufficient accuracy, inability to directly reflect offset status, and low adjustment efficiency of existing monitoring methods. Specifically, this invention mainly aims to solve the following technical problems: 1) How to achieve continuous, real-time, and reliable measurement of the head and tail positions and propulsion of the scraper conveyor, and how to ensure long-term stable operation in complex downhole environments.

[0081] 2) How to determine whether the scraper conveyor is parallel to the working face roadway based on real-time measurement data, and to identify its offset states such as upward movement and downward movement.

[0082] 3) How to effectively import and integrate the obtained real-time position data into the digital base plate model of the working face to realize dynamic analysis of the working face posture and automatic calculation of adjustment distance, so as to provide accurate basis for adjustment strategies such as tool addition and tool throwing.

[0083] To solve the above-mentioned technical problems, firstly, the present invention provides a system for handling the upward and downward sliding conditions of a scraper conveyor, see [link to relevant documentation]. Figure 13 The system includes: a head measurement unit, a tail measurement unit, a data acquisition and fusion processing unit, and a digital floor algorithm fusion unit. The system uses laser rangefinders and video cameras at the head and tail to collect in real time the distance between the scraper conveyor and the roadway wall, the scale value of the marker ruler, and the advance information. The processed data is then input into the digital floor model to complete the attitude judgment of the scraper conveyor and the calculation of the working face adjustment.

[0084] See Figure 11 Based on the above-mentioned system for handling the upward and downward slippage conditions of a scraper conveyor, a specific implementation method for handling the upward and downward slippage conditions of a scraper conveyor includes the following steps: S1: Set up the head measurement unit and the tail measurement unit.

[0085] For the head measurement unit, two laser rangefinders and one video camera are installed on the scraper conveyor at the head of the scraper conveyor, and a marker ruler is hung on the tunnel wall at the same height as it.

[0086] Two laser rangefinders are arranged laterally along the same straight line along the scraper conveyor, both pointing towards the tunnel wall. The two rangefinders independently acquire the instantaneous distances from the left and right sides of the conveyor head to the tunnel wall. Since the two rangefinders share the same installation reference position, their measurement results can be directly calculated by difference. By comparing the difference in distances between the left and right sides, the parallelism between the scraper conveyor and the tunnel wall can be determined. Based on the distance difference between the laser rangefinders, the offset angle of the scraper conveyor and its actual vertical distance from the tunnel wall at the conveyor head are calculated.

[0087] a) If the distances on both sides are similar, the scraper conveyor should be parallel to the roadway; b) If the distance difference exceeds the threshold, the machine head will deviate obliquely relative to the roadway.

[0088] A video camera is aimed at the marking scale area on the tunnel wall, using image recognition technology to accurately read the decimeter graduations on the scale. The marking scale is 1 meter long, divided into decimeter units, and is suspended from the machine head position along the tunnel direction to the working face stop line to provide a continuous and identifiable reference point for the advance. By recognizing the graduations on the marking scale, the advance coordinates of the machine head in the tunnel direction can be obtained. Based on the machine head offset angle, the coordinate points are corrected in real time, realizing automatic calibration and accurate measurement of the machine head advance.

[0089] For the tail measurement unit, two laser rangefinders and one video camera, identical to those at the head, are installed at the motor cover position at the tail of the scraper conveyor. (1) The laser rangefinder is also arranged in the same straight line along the tail of the machine to measure the distance from the left and right sides of the tail to the roadway wall, so as to determine the parallelism between the tail and the roadway. Based on the distance difference of the laser rangefinder, the offset angle of the scraper conveyor tail and the actual vertical distance from the tail roadway wall are calculated. (2) The camera identifies the scale numbers on the tunnel wall to obtain the tail propulsion coordinates. Based on the tail offset angle, the coordinates are corrected in real time to realize the real-time measurement of the tail propulsion.

[0090] S2: Collect and merge data.

[0091] The data collected from the nose and tail of the aircraft are synchronously transmitted to the data processing module, where they are fused and processed. The processing flow includes: (1) Ranging data filtering processing.

[0092] The laser ranging data is processed by median filtering and moving average to reduce noise interference caused by downhole dust, spray, etc.

[0093] (2) Parallelism judgment

[0094] like Figure 2 , Figure 4 as well as Figure 5 The document demonstrates three scenarios: the scraper conveyor is parallel to the roadway wall, and it is offset to the left and right relative to the roadway. These are the distances measured directly by the two laser rangefinders, respectively. The vertical distance from the scraper conveyor to the roadway wall is the value to be calculated. The current operating condition of the scraper conveyor is determined based on this vertical distance. The solution and determination process are described in the previous calculation process and will not be repeated here.

[0095] (3) Image recognition and real-time monitoring of progress.

[0096] The video data is automatically processed using OCR and template matching algorithms to extract the scale markings. The propulsion coordinates of the machine's head and tail are obtained based on the scale numbers and their arrangement. The scale markings detected by the camera determine whether the scraper conveyor has shifted left or right relative to the roadway.

[0097] S3: Build and integrate the digital model of the working face.

[0098] First, the system imports real-time ranging data, advance coordinate points, and parallelism information into the system, and integrates and analyzes this data with data such as working face topography, working face length, scraper conveyor layout coordinates, and advance depth to construct a digital model of the working face, such as... Figure 8 As shown.

[0099] Next, the digital model of the working face is integrated and the model results are output: First, the following parameters are determined: (1) Real-time advance of the machine head at the working face, a; Real-time advance of the machine tail, b; (2) Offset of scraper conveyor ; (3) Working face length H, cutting depth D for each advance; (4) Correction amount for each cutting cycle of pseudo-inclination adjustment .

[0100] Next, by adding / swinging cutters to adjust the difference in the advance of the machine head and tail of the working face, the offset of the scraper conveyor on the working face is reduced. The working surface produces a pseudo-oblique angle of β.

[0101]

[0102] By adjusting the pseudo-inclination of the working face, with each advance of the cutter (assuming the working face will not shift due to other factors during the coal cutting cycle), the scraper as a whole produces a displacement in the opposite direction of the shift. The correction amount.

[0103]

[0104] when At that time, the correction of the downward movement on the working surface was completed.

[0105] It should be noted that the digital base plate model can be replaced by any computational model capable of expressing the relationship between the working face attitude and the advancement, including: a 3D geological modeling system, a simplified mathematical model based on the working face coordinate system, and a prediction model based on neural networks or machine learning. Its core purpose is to convert real-time position data into cutter adjustment amounts for adding and throwing cutters; this invention does not limit the specific algorithm used.

[0106] S4: Adjust the working surface based on the output results of the digital base plate model.

[0107] When the safety exit width at the machine head is narrower than the standard, the working face will rise upwards. In this case, add cutting tools at the machine head or use tool-throwing correction at the machine tail. Conversely, when the safety exit width at the machine tail is narrower than the standard, the working face will slide downwards. In this case, add cutting tools at the machine tail or use tool-throwing correction at the machine head. The overall direction of the working face's advance is adjusted by changing the difference in advance angle between the machine head and tail. The specific tool-adding / throwing strategies are as follows: Adding cutters: After the coal cutter cuts off the triangular coal at the end of the working face, it continues cutting coal normally towards the middle of the working face. The support frame moves in tandem with the coal cutter, decreasing gradually from the end frame towards the middle of the working face. Specifically, the support frame moving distance at the end of the working face is 960mm (the standard moving distance per cut on the working face). When the coal cutter reaches the middle of the working face, the support frame moving distance gradually decreases to 0. At this point, the lagging support frame is aligned, the support push rod is extended, and the scraper conveyor is leveled. After the conveyor is completed, it reverses direction to pull the coal cutter, cutting coal to the end of the working face to complete the added cutting. The support frame is then pulled back, the scraper conveyor is extended, and the added cutting is finished.

[0108] Cutting with the cutter: The coal cutter cuts coal from the middle of the working face towards the leading edge. The support frame moves along with the coal cutter, starting from the middle and moving towards the end of the working face. The moving step distance decreases progressively, starting at 960mm in the middle (standard moving step distance per cut on the working face). When the coal cutter reaches the end of the working face, the moving step distance of the support frame gradually decreases to 0. After the support frame moves, the conveyor is pushed forward. At this point, after the coal cutter has cut through the end of the working face, the conveyor is in a straight line, pulling the coal cutter in the opposite direction to begin cutting coal to the other end of the working face. The cutting with the cutter is then complete.

[0109] It should be noted that the methods of adding and throwing cutters can be replaced by other methods that can straighten the working face, such as: coal mining machine cutting strategies with automatic height and direction adjustment, working face support coordinated push conveyor adjustment methods, and intelligent algorithms for push conveyor thrust distribution, etc.

[0110] As described above, the method for handling the upward and downward sliding conditions of a scraper conveyor proposed in the specific embodiments of this application has the following improvements compared with the prior art: 1) Synchronous measurement structure at both ends of the machine head and tail.

[0111] Distance measuring units and image recognition units are respectively arranged at the head and tail of the scraper conveyor to realize synchronous, continuous and real-time measurement of the positions of the two endpoints, which is the basis for realizing real-time identification of upward and downward movement.

[0112] 2) Laser rangefinders are arranged in the same line for parallelism judgment.

[0113] The laser rangefinders on both sides of the machine head and tail are arranged along the same transverse straight line. The difference between the two range values ​​directly reflects the parallelism between the scraper conveyor and the tunnel wall. This is the core technical means to determine the direction and amount of deviation.

[0114] 3) A method for obtaining video recognition progress based on a marker ruler.

[0115] A decimeter-scale ruler is used to hang along the tunnel wall, and a video camera is used to identify the scale numbers in real time to obtain the precise advance coordinates of the machine head and tail, so as to realize the automatic and continuous measurement of the advance.

[0116] 4) Algorithm for fusing distance measurement and visual information.

[0117] The system integrates data such as the upward and downward offset values ​​of the scraper conveyor, the digital recognition results of the marker ruler, and the propulsion coordinate points to achieve anti-interference and stable calculation of attitude recognition.

[0118] 5) Real-time integration with the digital base plate model.

[0119] Importing real-time measurement data into a digital base plate model, and then calculating the working face posture, offset, and required tool addition / distraction adjustment amount through the model, is the core algorithm step of this invention to complete the adjustment control.

[0120] 6) Automated generation of tool addition / distraction adjustment strategies.

[0121] The model automatically generates the tool depth, tool throwing distance, and direction based on the calculation results, thereby automatically generating the straightening strategy for the working face and improving the efficiency and accuracy of the adjustment.

[0122] Based on the same inventive concept, this application also provides a device for handling the upward and downward sliding conditions of a scraper conveyor, which can be used to implement the method described in the above embodiments, as shown in the following embodiments. Since the principle of the device for handling the upward and downward sliding conditions of a scraper conveyor is similar to the method for handling such conditions, the implementation of the device can refer to the implementation of the method for handling such conditions, and repeated details will not be elaborated further. As used below, the terms "unit" or "module" can refer to a combination of software and / or hardware that performs a predetermined function. Although the system described in the following embodiments is preferably implemented in software, hardware implementation, or a combination of software and hardware, is also possible and contemplated.

[0123] This application provides a specific implementation of a scraper conveyor scraper slippage handling device capable of handling the scraper conveyor slippage condition, see [link to implementation details]. Figure 14 A device for handling the upward and downward slippage conditions of a scraper conveyor specifically includes the following components: The working condition determination module 10 is used to determine the current working condition of the scraper conveyor based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current working condition includes: normal working condition, upward movement working condition and downward movement working condition. The cutter correction amount determination module 20 is used to determine the cutter correction amount based on the working face length, cutter advance depth and working face advance degree when the current working condition is the upward movement or the downward movement. The abnormal working condition elimination module 30 is used to eliminate the upward slippage condition or the downward slippage condition based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the cutter correction amount.

[0124] In some embodiments of this application, see Figure 15 The working condition determination module 10 includes: The offset angle determination unit 10a is used to determine the offset angle of the scraper conveyor based on the distance between the two ends and the roadway wall and the length of the equipment. The working condition determination unit 10b is used to determine the current working condition based on the distance between the two ends and the roadway wall and the offset angle.

[0125] In some embodiments of this application, see Figure 16 The working condition determination unit 10b includes: The distance determination unit 10b1 is used to determine the distance between the scraper conveyor and the tunnel wall based on the distance between the two ends and the tunnel wall and the offset angle; The working condition determination subunit 10b2 is used to determine the current working condition based on the distance between the scraper conveyor and the roadway wall.

[0126] In some embodiments of this application, see Figure 17 The operating condition determination subunit 10b2 includes: The upward movement condition determination unit 10b21 is used to determine the current working condition as the upward movement condition if the distance between the head of the scraper conveyor and the corresponding roadway wall is greater than a preset first threshold. The sliding condition determination unit 10b22 is used to determine the current condition as the sliding condition if the distance between the tail of the scraper conveyor and the corresponding roadway wall is greater than a preset second threshold. Normal operating condition determination unit 10b23 is used to determine the current operating condition as normal operating condition if otherwise.

[0127] In some embodiments of this application, the distance between the two ends and the roadway wall is obtained by laser rangefinders pre-installed at both ends of the scraper conveyor along the working face advance direction; The working face advance is measured by a camera pre-set on the scraper conveyor and a marking ruler on the roadway wall; the working face advance includes: the working face head advance and the working face tail advance; See Figure 18 The cutter correction amount determination module 20 determines the cutter correction amount based on the working face length, cutter advance depth, and working face advance rate, including: The false inclination determination unit 20a is used to determine the false inclination of the working face based on the advance of the working face head, the advance of the working face tail, and the length of the working face. The cutter correction amount determination unit 20b is used to determine the cutter correction amount based on the cutter advance depth and the pseudo-inclination of the working surface.

[0128] In some embodiments of this application, see Figure 19 The abnormal operating condition elimination module 30 includes: The upward offset determination unit 30a is used to determine the upward offset based on the distance between the scraper conveyor head and the corresponding roadway wall and the first threshold; or The sliding offset determination unit 30b is used to determine the sliding offset based on the distance between the tail of the scraper conveyor and the corresponding roadway wall and the second threshold. The cyclic operation unit 30c is used to perform the following cyclic operation until the total amount of cutter correction equals the upward offset or the downward offset: The cutter correction amount application unit 30d is used to apply the cutter correction amount to the cutter during each cutting process, or to apply the cutter correction amount to the cutter by adding a cutter.

[0129] This application also provides a specific implementation of an electronic device capable of implementing all steps in the method for handling the upward and downward sliding conditions of the scraper conveyor in the above embodiments. See [link to implementation details]. Figure 20 The electronic devices specifically include the following: Processor 1201, memory 1202, communications interface 1203, and bus 1204; The processor 1201, memory 1202, and communication interface 1203 communicate with each other via bus 1204; the communication interface 1203 is used to realize information transmission between server-side devices, power measurement devices, and user-side devices and other related devices.

[0130] The processor 1201 is used to call the computer program in the memory 1202. When the processor executes the computer program, it implements all the steps in the method for handling the upward and downward sliding condition of the scraper conveyor in the above embodiment. For example, when the processor executes the computer program, it implements the following steps: The current operating condition of the scraper conveyor is determined based on the distance between both ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current operating condition includes: normal operating condition, upward movement operating condition, and downward movement operating condition; If the current working condition is upward movement or downward movement, the cutter correction amount is determined based on the working face length, the cutter advance depth, and the working face advance degree. The upward or downward movement of the scraper conveyor is eliminated based on the distance between its two ends and the roadway wall along the working face advance direction, as well as the cutter correction amount.

[0131] Embodiments of this application also provide a computer-readable storage medium capable of implementing all steps of the method for handling the upward and downward sliding condition of the scraper conveyor in the above embodiments. The computer-readable storage medium stores a computer program, which, when executed by a processor, implements all steps of the method for handling the upward and downward sliding condition of the scraper conveyor in the above embodiments. For example, when the processor executes the computer program, it implements the following steps: The current operating condition of the scraper conveyor is determined based on the distance between both ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current operating condition includes: normal operating condition, upward movement operating condition, and downward movement operating condition; If the current working condition is upward movement or downward movement, the cutter correction amount is determined based on the working face length, the cutter advance depth, and the working face advance degree. The upward or downward movement of the scraper conveyor is eliminated based on the distance between its two ends and the roadway wall along the working face advance direction, as well as the cutter correction amount.

[0132] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to interchangeably. Each embodiment focuses on its differences from other embodiments. In particular, hardware + program embodiments are relatively simple in description because they are fundamentally similar to method embodiments; relevant parts can be referred to the descriptions in the method embodiments.

[0133] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0134] While this application provides method operation steps as shown in the embodiments or flowcharts, more or fewer operation steps may be included based on conventional or non-inventive labor. The order of steps listed in the embodiments is merely one possible execution order among many and does not represent the only execution order. In actual device or client product execution, the method can be executed in the order shown in the embodiments or drawings or in parallel (e.g., in a parallel processor or multi-threaded processing environment).

[0135] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0136] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0137] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0138] This application uses specific embodiments to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for handling the upward and downward slippage condition of a scraper conveyor, characterized in that, include: The current operating condition of the scraper conveyor is determined based on the distance between both ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current operating condition includes: normal operating condition, upward movement operating condition, and downward movement operating condition; If the current working condition is upward movement or downward movement, the cutter correction amount is determined based on the working face length, the cutter advance depth, and the working face advance degree. The upward or downward movement of the scraper conveyor is eliminated based on the distance between its two ends and the roadway wall along the working face advance direction, as well as the cutter correction amount.

2. The processing method according to claim 1, characterized in that, The determination of the current operating condition of the scraper conveyor based on the distances between its two ends and the roadway wall along the working face's advancing direction, and the length of the scraper conveyor along the working face's advancing direction, includes: The offset angle of the scraper conveyor is determined based on the distances between the two ends and the tunnel wall and the length of the equipment. The current operating condition is determined based on the distances between the two ends and the tunnel wall, as well as the offset angle.

3. The processing method according to claim 2, characterized in that, The current working condition is determined based on the distances between the two ends and the tunnel wall and the offset angle, including: The distance between the scraper conveyor and the tunnel wall is determined based on the distances between the two ends and the tunnel wall, as well as the offset angle. The current operating condition is determined based on the distance between the scraper conveyor and the tunnel wall.

4. The processing method according to claim 3, characterized in that, Determining the current operating condition based on the distance between the scraper conveyor and the roadway wall includes: If the distance between the head of the scraper conveyor and the corresponding roadway wall is greater than a preset first threshold, the current working condition is determined to be the upward movement working condition. If the distance between the tail of the scraper conveyor and the corresponding tunnel wall is greater than a preset second threshold, the current working condition is determined to be the sliding working condition. Otherwise, the current operating condition is determined to be a normal operating condition.

5. The processing method according to claim 1, characterized in that, The distances between the two ends and the roadway wall are measured by laser rangefinders pre-installed at both ends of the scraper conveyor along the working face advance direction; The progress of the working face is measured by a camera pre-set on the scraper conveyor and a marker ruler on the tunnel wall; The working face advance includes: the working face head advance and the working face tail advance; The cutter correction amount is determined based on the working face length, cutter depth of cut, and working face advance rate, including: The pseudo-inclination of the working face is determined based on the advance of the working face head, the advance of the working face tail, and the length of the working face; The cutter correction amount is determined based on the cutting depth of the cutter and the pseudo-inclination of the working surface.

6. The processing method according to claim 4, characterized in that, Eliminating the upward or downward movement of the scraper conveyor based on the distances between its two ends and the roadway wall along the working face's advancing direction, and the cutter's correction amount, includes: The upward offset is determined based on the distance between the scraper conveyor head and the corresponding tunnel wall, and the first threshold value; or The downward offset is determined based on the distance between the tail of the scraper conveyor and the corresponding tunnel wall and the second threshold. Perform the following cyclic operation until the total amount of cutter correction equals the upward offset or the downward offset: The cutting process involves applying the cutting tool correction amount to either the blade during each cut or the blade during a flick.

7. A device for handling the upward and downward slippage of a scraper conveyor, characterized in that, include: The working condition determination module is used to determine the current working condition of the scraper conveyor based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the length of the scraper conveyor along the working face advancing direction; wherein, the current working condition includes: normal working condition, upward movement working condition and downward movement working condition; The cutter correction amount determination module is used to determine the cutter correction amount based on the working face length, cutter advance depth and working face advance degree when the current working condition is the upward movement or the downward movement. An abnormal working condition elimination module is used to eliminate the upward slippage condition or the downward slippage condition based on the distance between the two ends of the scraper conveyor and the roadway wall along the working face advancing direction and the cutter correction amount.

8. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the steps of the method for handling the upward and downward sliding conditions of the scraper conveyor as described in any one of claims 1 to 6.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the method for handling the upward and downward sliding conditions of the scraper conveyor according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the steps of the method for handling the upward and downward sliding conditions of the scraper conveyor as described in any one of claims 1 to 6.

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