Automatic detection method for upward movement or downward sliding of coal face conveyor

The invention discloses an automatic detection method for upward movement or downward sliding of a coal face conveyor. The method comprises the steps that S1, an inertial navigation system is installed on a coal mining machine, course angle sensors are installed on hydraulic supports, and the course angle sensors are numbered according to the arrangement sequence of the hydraulic supports; S2, the error range is determined; S3, a coordinate system is established; S4, coordinate points are optimized; and S5, whether upward movement or downward sliding of the conveyor occurs or not is judged. The method is easy to operate, fast in response and good in real-time performance, whether upward movement or downward sliding of the whole conveyor occurs or not can be monitored, whether a local conveyor is bent or not and whether the hydraulic supports incline or not can be monitored, and therefore timely adjustment is facilitated. 本发明公开了一种采煤工作面运输机上窜或下滑自动检测方法，S1，在采煤机上安装惯性导航系统、液压支架上安装航向角传感器，每个航向角传感器按照液压支架排列顺序编号；S2，确定误差范围