阅读说明：本技术 一种采煤面找直方法及系统 (Coal mining face alignment method and system ) 是由 闫东 华贤兵 李梦菲 于 2021-06-29 设计创作，主要内容包括：本发明提供了一种采煤面找直方法及系统,通过设置在采煤机内部的惯导系统可以实施监控采煤机的行程路径,以获取行程路径曲线,该行程路径包含经纬度和海拔信息,根据该曲线的曲直度来判断采煤机的采煤面是否为直线,若不为直线,则及时调整采煤面,使其在同一直线上进行采煤作业,防止采煤面弯曲而导致的采煤效率低下和各个采煤路径相互干扰的情况。(The invention provides a coal face alignment method and a coal face alignment system, wherein an inertial navigation system arranged in a coal mining machine can monitor a stroke path of the coal mining machine to obtain a stroke path curve, the stroke path comprises longitude and latitude and altitude information, whether the coal face of the coal mining machine is a straight line or not is judged according to the curve straightness of the curve, if not, the coal face is timely adjusted to carry out coal mining operation on the same straight line, and the situations of low coal mining efficiency and mutual interference of all coal mining paths caused by bending of the coal face are prevented.)

1. A coal mining face straightening method is characterized by comprising the following steps:

acquiring three-dimensional position data of the coal mining machine in a coal mining working process through an inertial navigation system arranged on the coal mining machine;

drawing a coal mining working track curve of the coal mining machine according to the three-dimensional position data;

continuously judging whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, controlling the coal mining surface of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction for a preset distance; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.

2. The coal mining face straightening method according to claim 1, characterized in that the coal mining machine is arranged on a hydraulic support, and the hydraulic support drives the coal mining machine to move through the action of a telescopic frame;

the controlling the coal mining face of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction comprises:

and controlling the hydraulic support to execute the action of the telescopic frame so as to enable the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance.

3. The coal mining face straightening method according to claim 1, characterized in that the three-dimensional position data includes latitude and longitude information and altitude information.

4. The coal mining face straightening method according to claim 1, wherein the coal mining machine continuously judges whether the straightness of the coal mining track curve is smaller than a preset straightness threshold value at intervals of a first preset time in a coal mining working process, and if not, the coal mining face of the coal mining machine is controlled to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance, and the method further comprises the following steps:

the method comprises the steps of accumulatively controlling the times C of movement of a coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction;

and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.

5. The coal mining face straightening method according to claim 1, wherein the coal mining machine continuously judges whether the straightness of the coal mining track curve is smaller than a preset straightness threshold value at intervals of a first preset time in a coal mining working process, and if not, the coal mining face of the coal mining machine is controlled to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance, and the method further comprises the following steps:

the moving speed of the advancing direction of the coal mining machine is reduced while the coal mining surface of the coal mining machine is controlled to move towards the first direction, the second direction, the third direction or the fourth direction.

6. A coal mining face alignment system is characterized by comprising a coal mining machine and a central control system, wherein an inertial navigation system is arranged on the coal mining machine, and the central control system is connected with the coal mining machine and the inertial navigation system;

the central control system acquires navigation data of the inertial navigation system, so that three-dimensional position data of the coal mining machine in the coal mining working process is acquired;

the central control system draws a coal mining working track curve of the coal mining machine according to the three-dimensional position data;

the central control system continuously judges whether the straightness of the curve of the coal mining working track is smaller than a preset straightness threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, the central control system controls the coal mining surface of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance and simultaneously reduces the moving speed of the advancing direction of the coal mining machine; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction;

the central control system accumulatively controls the times C of movement of the coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.

7. The coal mining face alignment system as claimed in claim 1, further comprising a hydraulic support, wherein the coal mining machine is arranged on the hydraulic support, and the hydraulic support drives the coal mining machine to move through the action of a telescopic frame;

the hydraulic support is connected with the central control system, and the central control system controls the hydraulic support to execute the action of the telescopic frame so as to enable the coal mining surface of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction by a preset distance.

8. The coal mining face alignment system as claimed in claim 1, wherein the coal mining machine includes an electric air box, and the inertial navigation system is disposed in the electric air box.

9. The coal mining face straightening system according to claim 7, wherein a displacement sensor is arranged on the hydraulic support and connected with the central control system, and the central control system obtains the moving distance of the hydraulic support through the displacement sensor.

10. The coal mining surface straightening system according to claim 7, wherein the hydraulic support comprises a guide rail and a plurality of groups of support frames arranged on the guide rail, and each group of support frames is connected with the central control system;

the coal mining machine is arranged on the guide rail and is connected with a plurality of groups of different support frames in the advancing process, and the central control system controls the different support frames to execute the actions of the telescopic frames so as to control the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction in the coal mining working process.

Technical Field

The invention relates to the technical field of coal mine collection, in particular to a coal mining face straightening method and a coal mining face straightening system.

Background

With the development of science and technology and urgent needs of coal mine users for high-intelligence products, the overseas coal distributor equipment manufacturers actively research and explore the automatic control technology of the fully mechanized coal mining face, and obtain series achievements on some key technologies of automatic alignment of the fully mechanized coal mining face equipment, wherein the key technologies mainly comprise the steps of carrying out three-dimensional detection on the position of a coal mining machine by using a gyroscope, researching the automatic alignment technology of the fully mechanized coal mining face equipment and the like.

The problem of continuous propulsion is basically not solved in domestic fully-mechanized coal mining automation working faces in the future, and the main problem to be solved is how to ensure that the coal mining face keeps a straight state in the continuous propulsion process, if the problem cannot be ensured, the coal mining face must be manually intervened in the automation process to be adjusted or pushed for a walk, so that the automation coal mining efficiency is influenced, and people cannot be further reduced and efficiency cannot be increased. The 'three straight and two flat' is the guarantee of continuous propulsion of face equipment, is an old problem, and is always a main problem which is not solved by automatic coal mining so far. At present, most domestic automatic manufacturers including partial manufacturers with practical capability are researching the technology for managing the straightness of the chute based on inertial navigation, but the technology is rarely mature and applied.

Disclosure of Invention

In order to overcome the technical defects, the invention aims to provide a coal mining surface alignment method and a coal mining surface alignment system which can intelligently control alignment work of a coal mining surface.

The invention discloses a coal mining surface straightening method, which comprises the following steps: acquiring three-dimensional position data of the coal mining machine in a coal mining working process through an inertial navigation system arranged on the coal mining machine; drawing a coal mining working track curve of the coal mining machine according to the three-dimensional position data;

continuously judging whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, controlling the coal mining surface of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction for a preset distance; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.

Preferably, the coal mining machine is arranged on a hydraulic support, and the hydraulic support drives the coal mining machine to move through the action of a telescopic frame; the controlling the coal mining face of the coal mining machine to move towards a first direction or a second direction or a third direction or a fourth direction comprises: and controlling the hydraulic support to execute the action of the telescopic frame so as to enable the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance.

Preferably, the three-dimensional position data includes latitude and longitude information and altitude information.

Preferably, the continuously judging whether the straightness of the curve of the coal mining working trajectory is smaller than a preset straightness threshold value at intervals of a first preset time in the coal mining working process of the coal mining machine, if not, controlling the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction by a preset distance further comprises:

the method comprises the steps of accumulatively controlling the times C of movement of a coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.

Preferably, the continuously judging whether the straightness of the curve of the coal mining working trajectory is smaller than a preset straightness threshold value at intervals of a first preset time in the coal mining working process of the coal mining machine, if not, controlling the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction by a preset distance further comprises: the moving speed of the advancing direction of the coal mining machine is reduced while the coal mining surface of the coal mining machine is controlled to move towards the first direction, the second direction, the third direction or the fourth direction.

The invention also provides a coal mining surface alignment system which comprises a coal mining machine and a central control system, wherein the coal mining machine is provided with an inertial navigation system, and the central control system is connected with the coal mining machine and the inertial navigation system; the central control system acquires navigation data of the inertial navigation system, so that three-dimensional position data of the coal mining machine in the coal mining working process is acquired; the central control system draws a coal mining working track curve of the coal mining machine according to the three-dimensional position data;

the central control system continuously judges whether the straightness of the curve of the coal mining working track is smaller than a preset straightness threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine, and if not, the central control system controls the coal mining surface of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance and simultaneously reduces the moving speed of the advancing direction of the coal mining machine; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction;

the central control system accumulatively controls the times C of movement of the coal mining surface of the coal mining machine towards a first direction, a second direction, a third direction or a fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine or requesting geological exploration.

Preferably, the coal mining machine further comprises a hydraulic support, the coal mining machine is arranged on the hydraulic support, and the hydraulic support drives the coal mining machine to move through the action of a telescopic frame; the hydraulic support is connected with the central control system, and the central control system controls the hydraulic support to execute the action of the telescopic frame so as to enable the coal mining surface of the coal mining machine to move towards a first direction, a second direction, a third direction or a fourth direction by a preset distance.

Preferably, the coal mining machine comprises an electric air box, and the inertial navigation system is arranged in the electric air box.

Preferably, a displacement sensor is arranged on the hydraulic support and connected with the central control system, and the central control system acquires the moving distance of the hydraulic support through the displacement sensor.

Preferably, the hydraulic support comprises a guide rail and a plurality of groups of support frames arranged on the guide rail, and each group of support frames is connected with the central control system; the coal mining machine is arranged on the guide rail and is connected with a plurality of groups of different support frames in the advancing process, and the central control system controls the different support frames to execute the actions of the telescopic frames so as to control the coal mining surface of the coal mining machine to move towards the first direction, the second direction, the third direction or the fourth direction in the coal mining working process.

After the technical scheme is adopted, compared with the prior art, the method has the following beneficial effects:

1. the invention can monitor the travel path of the coal mining machine through the inertial navigation system arranged in the coal mining machine to obtain a travel path curve, judge whether the coal mining surface of the coal mining machine is a straight line or not according to the curve straightness of the curve, and adjust the coal mining surface in time if the coal mining surface is not a straight line to perform coal mining operation on the same straight line, thereby preventing the conditions of low coal mining efficiency and mutual interference of all coal mining paths caused by the bending of the coal mining surface.

Drawings

FIG. 1 is a flow chart of a coal face alignment method provided by the present invention;

fig. 2 is a schematic structural view of a coal mining face alignment system provided by the present invention.

The system comprises a coal mining machine 1, a hydraulic support 2, a central control system 3, a curve drawing assembly 301, a counting assembly 302, an inertial navigation system 4, an infrared transmitter 5, an infrared receiver 6 and a displacement sensor 7.

Detailed Description

The advantages of the invention are further illustrated in the following description of specific embodiments in conjunction with the accompanying drawings.

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

It is to be understood that although the terms first, second, third, etc. may be used herein to describe various information, such information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, first information may also be referred to as second information, and similarly, second information may also be referred to as first information, without departing from the scope of the present disclosure. The word "if" as used herein may be interpreted as "at … …" or "when … …" or "in response to a determination", depending on the context.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

In the description of the present invention, unless otherwise specified and limited, it is to be noted that the terms "mounted," "connected," and "connected" are to be interpreted broadly, and may be, for example, a mechanical connection or an electrical connection, a communication between two elements, a direct connection, or an indirect connection via an intermediate medium, and specific meanings of the terms may be understood by those skilled in the art according to specific situations.

In the following description, suffixes such as "module", "component", or "unit" used to denote elements are used only for facilitating the explanation of the present invention, and have no specific meaning in themselves. Thus, "module" and "component" may be used in a mixture.

Referring to the attached figure 1, the invention discloses a coal mining surface straightening method, which comprises the following steps:

s1, acquiring three-dimensional position data of the coal mining machine 1 in the coal mining working process through an inertial navigation system 4 arranged on the coal mining machine 1;

s2, drawing a coal mining working track curve of the coal mining machine 1 according to the three-dimensional position data;

and S3, continuously judging whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine 1, and if not, controlling the coal mining surface of the coal mining machine 1 to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance.

The first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine 1, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction. It is understood that the first direction and the second direction are the left and right directions of the shearer 1, respectively, and the third direction and the fourth direction are the up and down directions of the shearer 1, respectively. That is, the shearer 1 is controlled to maintain a straight line in the left and right directions, and the shearer 1 is controlled to maintain a straight line in the up and down directions. Of course, the first direction and the second direction may also be the up-down direction of the shearer 1, respectively, while the third direction and the fourth direction are the left-right direction of the shearer 1, respectively.

The invention can obtain the three-dimensional position data of the coal mining machine 1 in real time through the inertial navigation system 4, the three-dimensional position data can draw a moving track curve of the coal mining machine 1 in coal mining work on a coordinate system, and the movement of the coal mining machine 1 in the coal mining work can be intuitively judged whether to be a straight line according to the curve, so that whether the coal mining face is a straight line is judged, compared with the prior art that whether the coal mining face is a straight line is judged through a sensor and the like, the invention judges through the curve drawn by actually measured data, is more accurate and has high reliability, and the stroke of an operator and a monitoring person to the coal mining machine 1 is more intuitive visually and has strong warning performance.

Specifically, the central control system 3 includes a curve drawing component 301, and the central control system 3 draws the three-dimensional position data into a coal mining working trajectory curve through the curve drawing component 301.

Preferably, the coal mining machine 1 is arranged on the hydraulic support 2, and the hydraulic support 2 drives the coal mining machine 1 to move through the action of the telescopic frame. The telescopic frame acts by driving the coal mining machine 1 to move left and right through left and right telescopic movement and driving the coal mining machine 1 to move up and down through up and down telescopic movement, so that the up, down, left and right positions of a coal mining surface are controlled. Specifically, the coal mining machine 1 is arranged on a scraper machine, and the scraper machine moves on a hydraulic support, so that the coal mining machine 1 is driven to move.

And controlling the hydraulic support 2 to execute the action of the telescopic frame, so that the coal mining surface of the coal mining machine 1 moves towards the first direction, the second direction, the third direction or the fourth direction by a preset distance.

It should be noted that the preset distance may be a fixed distance, or an obtained automatic distance may be calculated after measuring relevant parameters of the curve according to an algorithm. If the distance is a fixed distance, the displacement is not in place at one time, and the displacement is carried out after the next curvature is judged until whether the curvature is smaller than a preset curvature threshold value or not. If the distance is automatic, the distance can be obtained in one step, but an algorithm is needed, and the algorithm needs to be corrected regularly to ensure the accuracy of the algorithm.

Preferably, when the adjustment distance is the movement distance, after the adjustment for one time, the acquisition of the curvature of the current coal mining working track curve is stopped, the curvature of the coal mining working track curve of the starting position and the current position is acquired, whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not is judged, if not, the coal mining surface of the coal mining machine 1 is continuously controlled to move towards the first direction or the second direction or the third direction or the fourth direction for a first preset distance until the curvature of the coal mining working track curve of the starting position and the current position is smaller than the preset curvature threshold value.

In addition, manual input by an operator can also be set.

Preferably, the three-dimensional position data includes latitude and longitude information and altitude information, and the three-dimensional geographic position data of the coal mining machine 1 can be visually acquired according to the information without being influenced by the depth of the underground coal mining well.

Preferably, the faults of the coal mining machine 1, the hydraulic support 2 and the like may cause that the coal mining surfaces of the coal mining machine 1 cannot work on the same straight line all the time, or cause that the coal mining surfaces cannot work on the same straight line all the time under the conditions of abnormal geology and the existence of interferents.

Therefore, it is necessary to continuously judge whether the curvature of the coal mining working trajectory curve is smaller than a preset curvature threshold value at intervals of a first preset time in the coal mining working process of the coal mining machine 1, if not, the coal mining surface of the coal mining machine 1 is controlled to move towards the first direction, the second direction, the third direction or the fourth direction for a preset distance, meanwhile, the number of times C that the coal mining surface of the coal mining machine 1 moves towards the first direction, the second direction, the third direction or the fourth direction is accumulatively controlled, and when the number of times C is larger than the preset number of times, failure prompt information of the coal mining machine 1 is sent or geological exploration is requested.

That is, when the position of the coal mining surface of the coal mining machine 1 is continuously adjusted for a plurality of times, a prompt is given to warn an operator to perform equipment judgment or geological judgment.

In addition, more accurate judgment can be set, namely, the judgment is carried out in a time period, a preset time period is given, and if the adjustment times C of the coal mining machine 1 in the preset time period are greater than the preset times, fault prompt information of the coal mining machine 1 is sent or geological exploration is requested. However, if the determination method is adopted, more invalid prompts may be caused, that is, the prompt information is in a normal condition and does not correspond to the fault or the geological abnormal condition.

Specifically, the central control system 3 further includes a counting assembly 302, and the counting assembly 302 accumulates the number C of times that the coal face of the coal mining machine 1 moves toward the first direction, the second direction, the third direction, or the fourth direction.

Preferably, in one case, the coal mining work is stopped when the position of the coal mining face is adjusted, and the coal mining work is continued until the coal mining face returns to the normal position, and in another case, the coal mining work is performed simultaneously when the position of the coal mining face is adjusted, and if the normal coal mining speed is maintained at this time, an error in the adjustment accuracy may be caused, so that the moving speed of the advancing direction of the coal mining machine 1 is reduced while the coal mining face of the coal mining machine 1 is controlled to move toward the first direction, the second direction, the third direction or the fourth direction, and the normal speed is returned after the adjustment is completed.

The invention also provides a coal mining surface alignment system which comprises a coal mining machine 1 and a central control system 3, wherein the coal mining machine 1 is provided with an inertial navigation system 4, and the central control system 3 is connected with the coal mining machine 1 and the inertial navigation system 4.

The central control system 3 acquires navigation data of the inertial navigation system 4, so as to acquire three-dimensional position data of the coal mining machine 1 in the coal mining working process; and the central control system 3 draws a coal mining working track curve of the coal mining machine 1 according to the three-dimensional position data.

The central control system 3 continuously judges whether the curvature of the coal mining working track curve is smaller than a preset curvature threshold value or not at intervals of first preset time in the coal mining working process of the coal mining machine 1, and if not, controls the coal mining surface of the coal mining machine 1 to move towards a first direction, a second direction, a third direction or a fourth direction for a preset distance and simultaneously reduces the moving speed of the advancing direction of the coal mining machine 1; the first direction, the second direction, the third direction and the fourth direction are perpendicular to the advancing direction of the coal mining machine 1, the first direction is opposite to the second direction, and the third direction is opposite to the fourth direction.

The central control system 3 accumulatively controls the times C of movement of the coal mining surface of the coal mining machine 1 towards the first direction, the second direction, the third direction or the fourth direction; and when the C is more than the preset times, sending out fault prompt information of the coal mining machine 1 or requesting geological exploration.

Preferably, the coal mining machine further comprises a hydraulic support 2, the coal mining machine 1 is arranged on the hydraulic support 2, and the hydraulic support 2 drives the coal mining machine 1 to move through the action of the telescopic frame. The hydraulic support 2 is connected with the central control system 3, and the central control system 3 controls the hydraulic support 2 to execute the action of the telescopic frame, so that the coal mining surface of the coal mining machine 1 moves towards the first direction, the second direction, the third direction or the fourth direction by a preset distance. The telescopic frame acts by driving the coal mining machine 1 to move left and right through left and right telescopic movement and driving the coal mining machine 1 to move up and down through up and down telescopic movement, so that the up, down, left and right positions of a coal mining surface are controlled.

Preferably, the coal mining machine 1 comprises an electric air box, and the inertial navigation system 4 is arranged in the electric air box, so that the three-dimensional position data can be acquired more accurately.

Preferably, be equipped with displacement sensor 7 on the hydraulic support 2, displacement sensor 7 is connected with central control system 3, and central control system 3 obtains hydraulic support 2's displacement through displacement sensor 7 to know the actual displacement of hydraulic support 2 at every turn.

Preferably, the hydraulic support 2 comprises a guide rail and a plurality of groups of support frames arranged on the guide rail, and each group of support frames is connected with the central control system 3. The central control system 3 can independently control each group of support frames.

The coal mining machine 1 is arranged on the guide rail, the coal mining machine 1 is connected with a plurality of groups of different support frames in the advancing process, and the coal mining positions are controlled by the different support frames. The central control system 3 controls different support frames to execute the actions of the telescopic frames so as to control the coal mining surface of the coal mining machine 1 to move towards the first direction, the second direction, the third direction or the fourth direction in the coal mining working process, and the pipeline control on the whole hydraulic support 2 line is realized.

An infrared receiver 6 is arranged on each group of support frames, and an infrared transmitter 5 is arranged on the coal mining machine 1; the coal mining machine 1 carries out signal transmission between the infrared transmitter 5 and the infrared receiver 6 of different groups of support frames when moving on the track.

It should be noted that the embodiments of the present invention have been described in terms of preferred embodiments, and not by way of limitation, and that those skilled in the art can make modifications and variations of the embodiments described above without departing from the spirit of the invention.