阅读说明：本技术 一种液压支架顶梁与采煤机滚筒防碰撞预警装置与方法 (Anti-collision early warning device and method for top beam of hydraulic support and roller of coal mining machine ) 是由 庞义辉 王泓博 富佳兴 柴海龙 于 2021-07-12 设计创作，主要内容包括：本发明提出一种液压支架顶梁与采煤机滚筒防碰撞预警装置与方法,预警装置包括移动式监测预警装置、激光接收装置；移动式监测预警装置主要包括承载箱、旋转式激光测距仪、基准座、第一铰接耳板、行走支撑板、行走轮、支撑轮、轮轴、数据存储模块、计算模块、控制模块、预警模块；激光接收装置主要包括固定板、激光接收模块；移动式监测预警装置设置四个行走轮,四个支撑轮,将移动式监测预警装置放置在电缆槽上,当行走轮与电缆槽的侧板接触时,行走轮可以在电缆槽的侧板上滚动,带动移动式监测预警装置移动,当电缆槽发生倾斜时,通过支撑轮与电缆槽的侧板接触,使移动式监测预警装置能够顺利移动。采用上述液压支架顶梁与采煤机滚筒防碰撞预警装置与方法可以实现对采煤机割煤过程中滚筒与液压支架顶梁的干涉检测与预警,具有操作简单、适应性强、精度高等优点。(The invention provides an anti-collision early warning device and method for a top beam of a hydraulic support and a roller of a coal mining machine, wherein the early warning device comprises a movable monitoring early warning device and a laser receiving device; the mobile monitoring and early warning device mainly comprises a bearing box, a rotary laser range finder, a reference base, a first hinge lug plate, a walking support plate, walking wheels, support wheels, a wheel shaft, a data storage module, a calculation module, a control module and an early warning module; the laser receiving device mainly comprises a fixing plate and a laser receiving module; the movable monitoring and early warning device is provided with four walking wheels and four supporting wheels, the movable monitoring and early warning device is placed on the cable trough, when the walking wheels are in contact with the side plates of the cable trough, the walking wheels can roll on the side plates of the cable trough, the movable monitoring and early warning device is driven to move, and when the cable trough inclines, the movable monitoring and early warning device can move smoothly through the contact of the supporting wheels and the side plates of the cable trough. By adopting the anti-collision early warning device and method for the top beam of the hydraulic support and the roller of the coal mining machine, the interference detection and early warning of the roller and the top beam of the hydraulic support in the coal cutting process of the coal mining machine can be realized, and the anti-collision early warning device and method have the advantages of simplicity in operation, strong adaptability, high precision and the like.)

1. The anti-collision early warning device for the top beam of the hydraulic support and the roller of the coal mining machine is characterized by comprising a movable monitoring early warning device and a laser receiving device;

the mobile monitoring and early warning device mainly comprises a bearing box, a rotary laser range finder, a reference seat, a first hinge lug plate, a walking support plate, walking wheels, support wheels, a wheel shaft, a data storage module, a calculation module, a control module and an early warning module;

the laser receiving device mainly comprises a fixing plate and a laser receiving module;

the rotary laser range finder is in a hinged structure with the first hinged lug plate, and a rotating shaft of the rotary laser range finder is vertical to the outer surface of the first hinged lug plate;

the first hinge lug plate is fixedly connected with the bearing box;

the reference seat is positioned right below the rotary laser range finder and is fixedly connected with the bearing box;

the walking support plate is fixedly connected with the bearing box;

the wheel shaft is positioned between the two walking support plates, and two ends of the wheel shaft are respectively connected with the walking wheels, so that the walking wheels can rotate around the axis direction of the wheel shaft;

the supporting wheels are fixedly connected with the walking supporting plate through supporting seats and can rotate around the supporting seats;

the bearing box is of a hollow structure, and the data storage module, the calculation module, the control module and the early warning module are arranged in the bearing box;

the laser receiving device is fixed on a top beam of the hydraulic support through a fixing plate;

the fixed plate is fixedly connected with the laser receiving module.

2. The anti-collision early warning device for the top beam of the hydraulic support and the roller of the coal mining machine as claimed in claim 1, wherein the movable monitoring early warning device is provided with four traveling wheels and four supporting wheels, the movable monitoring early warning device is placed on the cable trough, when the traveling wheels contact with the side plates of the cable trough, the traveling wheels can roll on the side plates of the cable trough to drive the movable monitoring early warning device to move, and when the cable trough inclines, the supporting wheels contact with the side plates of the cable trough, so that the movable monitoring early warning device can move smoothly.

3. The anti-collision early warning device for the top beam of the hydraulic support and the roller of the coal mining machine as claimed in claim 1, wherein the rotary laser range finder has the functions of laser range finding and rotation angle measurement.

4. The anti-collision early warning device for the top beam of the hydraulic support and the roller of the coal mining machine as claimed in claim 1, wherein the data storage module adopts a wireless receiving device to receive data transmitted by the rotary laser range finder and the laser receiving module.

5. The anti-collision early warning device for the top beam of the hydraulic support and the shearer drum as claimed in claim 1, wherein the fixing plate is fixed on the top beam of the hydraulic support by a strong magnet, and the long edge of the fixing plate is parallel to the long edge of the top beam of the hydraulic support.

6. A method for performing anti-collision warning on a hydraulic support top beam and a coal mining machine roller by using the anti-collision warning device for the hydraulic support top beam and the coal mining machine roller as claimed in claims 1 to 5, which is characterized by comprising the following steps:

s001, placing the movable monitoring and early warning device on a cable trough, installing a laser receiving device on a top beam of each hydraulic support, moving the movable monitoring and early warning device on the cable trough through a traveling wheel, wherein the moving direction of the movable monitoring and early warning device is consistent with the coal cutting direction of a coal cutter, and the distance between the movable monitoring and early warning device and the coal cutter is more than 3 m;

s002, the movable monitoring and early warning device emits laser beams to the top beam of the hydraulic support by the rotary laser range finder in the moving process, when a laser receiving device arranged on the top beam of the hydraulic support senses the laser beams emitted by the rotary laser range finder, a laser receiving module sends an instruction to a control module, the movable monitoring and early warning device stops moving, and anti-collision detection is carried out on the top beam of the hydraulic support and a roller of a coal mining machine;

s003, rotating the rotary laser range finder by a certain angle to align with a reference seat, then rotating by 180 degrees, transmitting a laser beam to a laser receiving module on a top beam of the hydraulic support, determining the distance between the movable monitoring and early warning device and the laser receiving device and the position A of the laser beam on the laser receiving module, and sending the result to a data storage module;

s004, rotating the rotary laser range finder by a certain angle to obtain the shortest distance OB between the rotary laser range finder and a hydraulic support top beam and an angle value & ltAOB & gt of the rotation of the rotary laser range finder, and sending the result to a data storage module;

s005, the calculating module calculates the shortest distance from the point D to the line OA according to the data of the data storage module;

s006, comparing the lengths of OE and DC, if OE is larger than or equal to DC +300mm, the coal mining machine roller cannot collide with the top beam of the hydraulic support when the coal is cut by heightening, otherwise, the coal mining machine roller will collide with the top beam of the hydraulic support;

s007, if OE is smaller than DC +300mm, the calculation module simultaneously sends out instructions to the control module and the early warning module, the coal cutter stops coal cutting operation, and simultaneously sends out audible and visual alarm;

s008, pushing the scraper conveyor by the hydraulic support control system, and detecting again after pushing is completed;

and S009, if OE is larger than or equal to DC +300mm, the mobile monitoring and early warning device continues to move forwards, and the steps S002-S008 are repeated.

Technical Field

The invention belongs to the field of intelligent mining of a coal face, and particularly relates to an anti-collision advanced early warning device and an anti-collision monitoring early warning method which are suitable for a hydraulic support top beam and a coal mining machine roller of the coal face in the coal cutting process of the coal mining machine.

Background

With the rapid advance of the fourth industrial revolution, the new generation information technologies such as 5G, big data and the Internet of things are integrated with the working face mining technology, so that the working face mining efficiency and the safety level are greatly improved. According to incomplete statistics, by the end of 2020, the number of intelligent mining working faces in China reaches 494, people reduction, safety increase and efficiency improvement of the coal mining working faces are initially realized, but a plurality of bottlenecks still exist in part of intelligent mining technologies.

The anti-collision technology of the top beam of the hydraulic support of the coal face and the roller of the coal mining machine is a key for realizing intelligent height adjustment control of the coal mining machine of the coal face, but the prior art is not mature. The traditional coal face mainly adopts two modes to realize the anti-collision interference of the hydraulic support and the coal mining machine, one mode is that a manual machine following mode is adopted, and the high-mining-height working face needs a coal mining machine driver to operate along with the coal mining machine all the time due to the large mining height and the poor precision of the traditional anti-collision technology, so that the intelligent cutting of the coal mining machine is difficult to realize; the other method is to adopt a machine vision-based mode, monitor the coal mining machine roller and the hydraulic support top beam through the camera, and judge whether the coal mining machine roller and the hydraulic support top beam are likely to collide by using an image recognition technology, but because a large amount of dust and water mist are generated around the roller in the coal cutting process of the coal mining machine, the dust penetration capacity of the existing camera is poor, and the image recognition precision is difficult to meet the intelligent mining requirement of a working face.

Aiming at the anti-collision technology of a hydraulic support top beam and a coal mining machine roller, the middleman mining research institute limited company provides a cutting interference recognition and monitoring system (ZL202010551198.8) of a hydraulic support side protection plate and a coal mining machine roller, a machine vision technology is adopted to recognize an outer envelope line of the hydraulic support side protection plate and the coal mining machine roller, and a control basis is provided for the anti-collision of the hydraulic support side protection plate and the coal mining machine roller, but the method is limited by the recognition effect of a camera, and in addition, the installation position of the camera and the like can also influence the recognition result; the university of China mining industry provides an image-based interference protection system and method (ZL201710040418.9) for a hydraulic support and a cutting part of a coal mining machine, the image recognition precision is improved by adopting technologies such as a reflective layer, and the problems of low fuzzy image recognition precision, low early warning accuracy and the like of the traditional machine vision technology still exist; the patent still adopts a machine vision method, mainly adopts a space parallel plane distance measurement principle to analyze machine vision related data, but still does not solve the problems commonly existing in the machine vision technology; the university of the Chinese mining industry provides a device and a method (ZL201910192195.7) for guaranteeing interference between a hydraulic support and a cutting part of a coal mining machine, the distance between the coal mining machine and the hydraulic support is calculated according to the time difference between an ultrasonic signal and an optical signal respectively received by an ultrasonic transducer and a receiver on the hydraulic support, and then a side guard plate is timely controlled to be folded, so that the precision of the technology still needs to be further improved.

By combining the above analysis, the existing anti-collision technology for the top beam of the hydraulic support and the top beam of the coal mining machine mainly adopts machine vision to identify the top beam of the coal mining machine and the hydraulic support, and due to the fact that a large amount of dust, water mist and the like are generated in the coal cutting process of the coal mining machine, the accuracy of the related technology cannot meet the practical requirements of underground engineering.

Disclosure of Invention

Aiming at the defects in the prior art, the invention aims to provide an anti-collision early warning device and an anti-collision early warning method for a top beam of a hydraulic support and a roller of a coal mining machine, and solves the problems of low recognition accuracy and the like caused by the influence of dust and water mist on the anti-collision device for the top beam of the hydraulic support and the roller of the coal mining machine.

The invention provides an anti-collision early warning device for a top beam of a hydraulic support and a roller of a coal mining machine, which comprises: the mobile monitoring and early warning device and the laser receiving device are arranged on the base;

the mobile monitoring and early warning device mainly comprises a bearing box, a rotary laser range finder, a reference seat, a first hinge lug plate, a walking support plate, walking wheels, support wheels, a wheel shaft, a data storage module, a calculation module, a control module and an early warning module;

the laser receiving device mainly comprises a fixing plate and a laser receiving module;

the rotary laser range finder is in a hinged structure with the first hinged lug plate, and a rotating shaft of the rotary laser range finder is vertical to the outer surface of the first hinged lug plate;

the first hinge lug plate is fixedly connected with the bearing box;

the reference seat is positioned right below the rotary laser range finder and is fixedly connected with the bearing box;

the walking support plate is fixedly connected with the bearing box;

the wheel shaft is positioned between the two walking support plates, and two ends of the wheel shaft are respectively connected with the walking wheels, so that the walking wheels can rotate around the axis direction of the wheel shaft;

the supporting wheels are fixedly connected with the walking supporting plate through supporting seats and can rotate around the supporting seats;

the bearing box is of a hollow structure, and the data storage module, the calculation module, the control module and the early warning module are arranged in the bearing box;

the laser receiving device is fixed on a top beam of the hydraulic support through a fixing plate;

the fixed plate is fixedly connected with the laser receiving module.

Further, portable monitoring and early warning device sets up four walking wheels, and four supporting wheels place portable monitoring and early warning device on the cable duct, and when the curb plate contact of walking wheel and cable duct, the walking wheel can roll on the curb plate of cable duct, drives portable monitoring and early warning device and removes, when the slope takes place for the cable duct, through the curb plate contact of supporting wheel and cable duct, makes portable monitoring and early warning device can remove smoothly.

Furthermore, the rotary laser range finder has the functions of laser range finding and rotation angle measurement.

Still further, the data storage module adopts a wireless receiving device to receive data transmitted by the rotary laser range finder and the laser receiving module.

Furthermore, the fixing plate is fixed on the top beam of the hydraulic support by a strong magnet, and the long edge of the fixing plate is parallel to the long edge of the top beam of the hydraulic support.

The technical scheme of the invention also provides a method for performing anti-collision early warning on the top beam of the hydraulic support and the roller of the coal mining machine by using the anti-collision early warning device for the top beam of the hydraulic support and the roller of the coal mining machine, which is characterized by comprising the following steps:

s001, placing the movable monitoring and early warning device on a cable trough, installing a laser receiving device on a top beam of each hydraulic support, moving the movable monitoring and early warning device on the cable trough through a traveling wheel, wherein the moving direction of the movable monitoring and early warning device is consistent with the coal cutting direction of a coal cutter, and the distance between the movable monitoring and early warning device and the coal cutter is more than 3 m;

s002, the movable monitoring and early warning device emits laser beams to the top beam of the hydraulic support by the rotary laser range finder in the moving process, when a laser receiving device arranged on the top beam of the hydraulic support senses the laser beams emitted by the rotary laser range finder, a laser receiving module sends an instruction to a control module, the movable monitoring and early warning device stops moving, and anti-collision detection is carried out on the top beam of the hydraulic support and a roller of a coal mining machine;

s003, rotating the rotary laser range finder by a certain angle to align with a reference seat, then rotating by 180 degrees, transmitting a laser beam to a laser receiving module on a top beam of the hydraulic support, determining the distance between the movable monitoring and early warning device and the laser receiving device and the position A of the laser beam on the laser receiving module, and sending the result to a data storage module;

s004, rotating the rotary laser range finder by a certain angle to obtain the shortest distance OB between the rotary laser range finder and a hydraulic support top beam and an angle value & ltAOB & gt of the rotation of the rotary laser range finder, and sending the result to a data storage module;

s005, the calculating module calculates the shortest distance from the point D to the line OA according to the data of the data storage module;

s006, comparing the lengths of OE and DC, if OE is larger than or equal to DC +300mm, the coal mining machine roller cannot collide with the top beam of the hydraulic support when the coal is cut by heightening, otherwise, the coal mining machine roller will collide with the top beam of the hydraulic support;

s007, if OE is smaller than DC +300mm, the calculation module simultaneously sends out instructions to the control module and the early warning module, the coal cutter stops coal cutting operation, and simultaneously sends out audible and visual alarm;

s008, pushing the scraper conveyor by the hydraulic support control system, and detecting again after pushing is completed;

and S009, if OE is larger than or equal to DC +300mm, the mobile monitoring and early warning device continues to move forwards, and the steps S002-S008 are repeated.

Drawings

Fig. 1 is a structural diagram of a mobile monitoring and early warning device according to an embodiment of the present invention;

fig. 2 is a front view of a mobile monitoring and early warning device provided in an embodiment of the present invention;

fig. 3 is a side view of a mobile monitoring and warning device according to an embodiment of the present invention;

FIG. 4 is a sectional view taken along line A-A;

fig. 5 is a structural diagram of a laser receiving apparatus provided in one embodiment of the present invention;

fig. 6 is an installation schematic diagram of an anti-collision early warning device for a hydraulic support top beam and a coal mining machine roller, which is provided by an embodiment of the invention;

fig. 7 is a schematic diagram of a calculation of an anti-collision warning device for a hydraulic support top beam and a drum of a coal mining machine according to an embodiment of the present invention;

fig. 8 is a flow chart of anti-collision early warning of the top beam of the hydraulic support and the roller of the coal mining machine.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description of the present invention, and do not indicate or imply that the device or assembly referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

The embodiment provides a hydraulic support top beam and coal mining machine drum anti-collision early warning device, as shown in fig. 1-6, mainly includes: the device comprises a mobile monitoring and early warning device 1 and a laser receiving device 2;

specifically, the mobile monitoring and early warning device 1 mainly comprises: the device comprises a bearing box 11, a rotary laser range finder 12, a reference seat 13, a first hinge lug plate 14, a walking support plate 15, a walking wheel 16, a support wheel 17, a wheel shaft 18, a data storage module 19, a calculation module 110, a control module 111 and an early warning module 112;

the laser receiver 2 mainly includes: a fixing plate 21 and a laser receiving module 22;

specifically, the rotary laser range finder 12 and the first hinge lug plate 14 are in a hinge structure, and a rotating shaft of the rotary laser range finder 12 is perpendicular to the outer surface of the first hinge lug plate 14;

the first hinge lug plate 14 is fixedly connected with the bearing box 11;

the reference seat 13 is positioned right below the rotary laser range finder 12 and is fixedly connected with the bearing box 11;

the walking support plate 15 is fixedly connected with the bearing box 11;

the wheel shaft 18 is positioned between the two walking support plates 15, and two ends of the wheel shaft 18 are respectively connected with the walking wheels 16, so that the walking wheels 16 can rotate around the axis direction of the wheel shaft 18;

the supporting wheel 17 is fixedly connected with the walking supporting plate 15 through a supporting seat, and the supporting wheel 17 can rotate around the supporting seat;

the carrying box 11 adopts a hollow structure, and the data storage module 19, the calculation module 110, the control module 111 and the early warning module 112 are arranged in the carrying box 11;

the laser receiving device 2 is fixed on a top beam of the hydraulic support through a fixing plate 21;

the fixing plate 21 is fixedly connected with the laser receiving module 22;

the movable monitoring and early warning device 1 is placed on a cable trough, as shown in fig. 6, when the walking wheels 16 are in contact with side plates of the cable trough, the walking wheels 6 can roll on the side plates of the cable trough, and the movable monitoring and early warning device 1 is driven to move.

Specifically, portable monitoring and early warning device 1 sets up four walking wheels 16, four supporting wheels 17, when the slope takes place for the cable duct, can be through the curb plate contact of supporting wheels 17 with the cable duct to make portable monitoring and early warning device 1 can remove smoothly.

The rotary laser range finder 12 can freely rotate 360 degrees around the long axis direction thereof, and has the functions of laser range finding and rotation angle measurement;

specifically, the rotary laser range finder 12 is first rotated freely by a certain angle to align the emitted laser beam with the reference base 13, that is, when the distance from the laser beam emitted by the rotary laser range finder 12 to the reference base 13 is shortest, the rotary laser range finder 12 is considered to be aligned with the reference base 13, the alignment point is used as a reference point, the rotary laser range finder 12 is rotated by 180 degrees, and it can be determined that the laser beam emitted by the rotary laser range finder 12 is perpendicular to the upper surface of the carrying box 11 at the moment, which is the initial state of monitoring and early warning at the moment.

The data storage module 19 adopts a wireless receiving device to receive the data transmitted by the rotary laser range finder 12 and the laser receiving module 22.

The fixing plate 21 is fixed on the top beam of the hydraulic support by a strong magnet, and the long edge of the fixing plate 21 is parallel to the long edge of the top beam of the hydraulic support (see fig. 6);

specifically, dense laser induction bands are arranged on the surface of the laser receiving module 22, the long sides of the laser induction bands are parallel to the short sides of the laser receiving module 22, the distance from each laser induction band to the left end of the top beam of the hydraulic support (the support position shown in fig. 6) is set in advance, and when a laser beam emitted by the rotary laser range finder 12 contacts with the laser induction bands on the surface of the laser receiving module 22, the laser receiving module 22 can determine the distance from a contact point of the laser beam to the left end of the top beam of the hydraulic support (the support position shown in fig. 6).

Because the coal face generally has a certain inclination angle and a certain elevation angle, the traditional machine vision monitoring method or the hydraulic support posture and the coal mining machine posture measured by adopting an inclination angle sensor and the like are absolute postures, and the anti-collision early warning of the hydraulic support top beam and the coal mining machine roller needs to obtain the relative posture of the hydraulic support and the coal mining machine, therefore, the rotating shaft of the rotary laser range finder 12 is taken as the coordinate origin, the rotary laser range finder 12 is aligned with the reference seat 13, the aligned point is taken as the reference, the rotary laser range finder 12 is rotated by 180 degrees, the direction of a laser beam emitted by the rotary laser range finder 12 is the direction of the y axis, the positive direction of the y axis is rotated by 90 degrees to the right side, the direction of the x axis is taken, and the coordinate system is shown in fig. 6;

because coal seams generally have certain inclination angles and pitch angles, the relative postures of the coal mining machine and the hydraulic support are easy to change, and therefore, the xoy coordinate system is determined as a reference coordinate system, namely, the posture of the hydraulic support relative to the coal mining machine and the scraper conveyor is judged by taking the posture of the coal mining machine matched with the scraper conveyor as a reference; because the connection mode of the coal mining machine and the scraper conveyor is hard connection, namely the y-axis direction is the same as the adjustment direction of the coal mining machine roller, and the relative distance between the y-axis and the coal mining machine roller is a fixed value, the relative position relation between the hydraulic support top beam and the coal mining machine roller can be calculated by determining the position of the laser beam emitted by the rotary laser range finder 12 falling on the laser receiving module 22 and the vertical height and the relative rotation angle between the hydraulic support top beam and the rotary laser range finder 12, so that whether the hydraulic support top beam and the coal mining machine roller collide can be determined, and advanced prediction and early warning are performed through the calculation module 110, the control module 111 and the early warning module 112.

The embodiment also provides an anti-collision early warning method for the top beam of the hydraulic support and the drum of the coal mining machine, which is shown in fig. 7 and 8 and specifically comprises the following steps:

s001, placing the movable monitoring and early warning device 1 on a cable trough, installing a laser receiving device 2 on a top beam of each hydraulic support, moving the movable monitoring and early warning device 1 on the cable trough through a traveling wheel 16, wherein the moving direction of the movable monitoring and early warning device 1 is consistent with the coal cutting direction of a coal cutter, and the advance distance of the coal cutter is more than 3 m;

s002, in the moving process of the mobile monitoring and early warning device 1, the rotary laser range finder 12 emits laser beams to the top beam of the hydraulic support, when the laser receiving device 2 arranged on the top beam of the hydraulic support senses the laser beams emitted by the rotary laser range finder 12, the laser receiving module 22 sends instructions to the control module 111, the mobile monitoring and early warning device 1 stops moving, and anti-collision detection is carried out on the top beam of the hydraulic support and a roller of a coal mining machine;

s003, the rotary laser range finder 12 rotates by a certain angle to align with the reference seat 13, then rotates by 180 degrees, emits a laser beam to the laser receiving module 22 on the top beam of the hydraulic support, determines the distance between the movable monitoring and early warning device 1 and the laser receiving device 2 and the position A of the laser beam on the laser receiving module 22, and sends the result to the data storage module 19;

specifically, the rotary laser range finder 12 is first freely rotated by a certain angle to align the emitted laser beam with the reference base 13, that is, when the distance from the laser beam emitted by the rotary laser range finder 12 to the reference base 13 is shortest, the rotary laser range finder 12 is considered to be aligned with the reference base 13; rotating the rotary laser range finder 12 by 180 degrees, wherein the laser beam emitted by the rotary laser range finder 12 falls on a position A on the laser receiving module 22, the rotary laser range finder 12 can measure the distance of OA, the distance AD from a point A to a point D at the front end of the top beam of the hydraulic support can be obtained according to the preset information in advance of the laser receiving module 22, and the data are sent to the data storage module 19 through the wireless communication module;

s004, rotating the rotary laser range finder 12 by a certain angle to obtain the shortest distance OB between the rotary laser range finder 12 and a hydraulic support top beam and an angle value AOB of rotation of the rotary laser range finder 12, and sending the result to the data storage module 19;

specifically, the rotary laser range finder 12 is rotated by a small angle left and right, the distance between the rotary laser range finder 12 and the hydraulic support top beam is judged, and the rotary laser range finder 12 and the hydraulic support top beam are continuously rotated in the direction of gradually reducing the distance between the rotary laser range finder 12 and the hydraulic support top beam, at this time, the distance between the rotary laser range finder 12 and the hydraulic support top beam is firstly reduced and then increased, a minimum distance point B between the rotary laser range finder 12 and the hydraulic support top beam is determined (since the thickness of the laser receiving device 2 is very small, the thickness of the laser receiving device 2 is ignored here, i.e. assuming that a point B falls on a straight line AD), at this time, OB ^ AD is determined, an angle value AOB of the rotation of the rotary laser range finder 12 is recorded, and the result is sent to the data storage module 19;

s005, the calculating module 110 calculates the shortest distance from the point D to the line OA according to the data of the data storage module 19;

specifically, a perpendicular line DC is drawn from a point D to a straight line OA, and the straight line DC is parallel to the direction of a rotating shaft of a cutting drum of the coal mining machine; according to the principle of similar triangle, the delta OAB and the delta ADC are similar triangle, the angle AOB is = angle ADC, and DC = AD multiplied by cos AOB is obtained due to the length of the obtained straight line AD;

s006, comparing the lengths of OE and DC, and if OE is smaller than DC, enabling the roller of the coal mining machine to collide with the top beam of the hydraulic support when the height of the roller is increased to cut coal; if OE is larger than or equal to DC, the roller of the coal mining machine does not collide with the top beam of the hydraulic support when the height of the roller is increased to cut coal; in order to ensure that the coal mining machine roller does not collide with the top beam of the hydraulic support, a safety distance of 300mm is reserved, and the OE is determined to be more than or equal to DC +300mm, so that the coal mining machine roller does not collide with the top beam of the hydraulic support when the coal is cut by heightening, otherwise, the coal mining machine roller will collide;

s007, if OE is smaller than DC +300mm, the calculation module 110 simultaneously sends out instructions to the control module 111 and the early warning module 112, the coal mining machine stops coal cutting operation, and meanwhile, an audible and visual alarm is sent out;

s008, pushing the scraper conveyor by the hydraulic support control system, and detecting again after pushing is completed;

and S009, if OE is larger than or equal to DC +300mm, the mobile monitoring and early warning device 1 continues to move forwards, and the steps S002-S008 are repeated.

The foregoing is considered as illustrative only of the principles and preferred embodiments of the invention. It should be noted that, for those skilled in the art, several other modifications can be made on the basis of the principle of the present invention, and the protection scope of the present invention should be regarded.