Automatic straightening device and method for hydraulic support based on image recognition

Abstract

The present invention relates to an automatic straightening device and method for a hydraulic support based on image recognition. The device includes a conveyor, a hydraulic support corresponding to the conveyor when it is moving, a hydraulic support push rod, a hydraulic support top beam, and a hydraulic support controller; it also includes an image acquisition device, and the number of image acquisition devices is the same as the number of hydraulic supports; the image acquisition device includes a fuselage, a fixed support, a collection head, a first characteristic mark and a second characteristic mark; it also includes an image processing platform, and the image processing platform is electrically connected to the image acquisition device and the hydraulic support controller respectively. The straightening method includes fixing and constructing standard points of the hydraulic support, angle correction of the image acquisition device, image acquisition of the image acquisition device, alignment correction of the hydraulic support, alignment of the conveyor push, acquisition of adjacent image acquisition devices, and control of the support straightening by the hydraulic support controller. The device and the straightening method using the device can simultaneously realize automatic alignment of the hydraulic support and automatic straightening of the conveyor.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal mine automation, and relates to automatic alignment, movement and automatic straightening of a hydraulic support of a fully mechanized mining working face in an underground coal mine, and specifically to an automatic straightening device and method for a hydraulic support based on image recognition. Background Art

[0002] Hydraulic supports and conveyors are important components of coal mining equipment and are the main equipment for support and transportation of modern coal mine fully mechanized mining faces. The "three straight and one flat" coal mine fully mechanized mining face is an effective means to achieve normal and efficient production of the fully mechanized mining face. Especially when the working face has multiple faults or folds and other geological structures, it is difficult for the working face equipment to adapt to the geological conditions. It is necessary to ensure that several hydraulic supports are on the same straight line to reduce the equipment failure rate and improve the working face production efficiency.

[0003] In modern fully mechanized mining working faces, dozens to hundreds of hydraulic supports are usually arranged in pairs to support the working face together. However, in order to meet the requirements of "three straight and one flat", the entire hydraulic support queue must be aligned each time the hydraulic support moves to form a good support and provide good conditions for the next move; and when pushing the conveyor, in order to reduce the wear of the conveyor and the movement resistance of the coal mining machine, the conveyor needs to be pushed straight. Manually adjusting the distance between supports not only increases the working time of manual labor in the coal mine, increases safety hazards, but also cannot ensure the straightening accuracy. After the electro-hydraulic control system is applied to the fully mechanized mining working face, the conveyor is connected to the hydraulic support through the push rod at the bottom of the hydraulic support, and the hydraulic support pushes the conveyor to move. The travel sensor is used to judge the distance, but due to the complex terrain of the working face, the mining equipment is prone to bending or the structure is complex and cannot be reasonably laid out, resulting in poor measurement accuracy and narrow application range. An inertial navigation system is used to measure the straightness of the conveyor, and then the conveyor is straightened, but the device and the corresponding method cannot be used for automatic alignment of hydraulic supports. Summary of the invention

[0004] The technical problem to be solved by the present invention is: in view of the above-mentioned defects, the present invention provides an automatic straightening device and method for a hydraulic support based on image recognition, which can realize automatic alignment of the hydraulic support and automatic straightening of the conveyor at the same time.

[0005] The technical solution adopted by the present invention to solve the technical problem is as follows: a hydraulic support automatic straightening device based on image recognition, a conveyor, and a plurality of hydraulic supports corresponding to the conveyor when the conveyor is moving, a hydraulic support push rod is arranged between the hydraulic support and the conveyor, and a hydraulic support top beam is arranged above the hydraulic support; a hydraulic support controller is arranged on the hydraulic support, and the hydraulic support controller controls the hydraulic support;

[0006] It also includes an image acquisition device, the number of which is the same as the number of hydraulic supports; the image acquisition device includes a fuselage, a fixing support for fixing the fuselage, and a collection head arranged in the fuselage; the fuselage is a semi-enclosed structure covering one side of the collection head; the fuselage has a first characteristic mark, and the first characteristic mark is arranged on the fuselage of the image acquisition device before the adjacent collection head collects the image; the image acquisition device is electrically connected to the hydraulic support controller;

[0007] It also includes a second characteristic mark, which is set on the hydraulic support; the first characteristic mark and the second characteristic mark are set at different horizontal planes, radial planes and transverse planes;

[0008] It also includes an image processing platform, which is electrically connected to the image acquisition device and the hydraulic support controller respectively.

[0009] The hydraulic support performs image acquisition through an image recognition device, and monitors the target offset through the image processing device through the target position of the first characteristic mark set on the image acquisition device and the second characteristic mark set on the hydraulic support. The first characteristic mark monitors whether the adjustment angle of the image acquisition device is consistent, which is convenient for the accuracy of data processing by the graphics processing platform, and further improves the accuracy of the position offset when the hydraulic support needs to be adjusted; the second characteristic mark monitors the setting position of the hydraulic support, and the image processing platform transmits the signal to the hydraulic support controller, and the hydraulic support controller performs offset adjustment on the hydraulic support. After the adjustment, the image acquisition device is used to re-measure until the hydraulic support is aligned, so as to adjust whether the conveyor is aligned. The automation degree is high, the accuracy is high, and the correction is accurate. The double guarantee is provided by the first characteristic mark and the second characteristic mark, thereby improving the accuracy of the hydraulic device correction.

[0010] Furthermore, the image acquisition device is a camera or a video camera.

[0011] Furthermore, the first characteristic mark is a characteristic indicator light, a single reflective sticker or a reflective sticker forming a characteristic pattern; the second characteristic mark is a characteristic indicator light, a single reflective sticker or a reflective sticker forming a characteristic pattern, or a marker welded on the hydraulic support, and the indicator light color or reflective sticker pattern and color of the first characteristic mark and the second characteristic mark are different. The first characteristic mark and the second characteristic mark use characteristic indicator lights or reflective stickers or other easily identifiable markers to distinguish different hydraulic supports, solve the problem of difficult identification and observation in harsh conditions underground in coal mines, reduce the difficulty of image recognition, and improve anti-interference ability.

[0012] Furthermore, the image processing platform includes a pixel matrix, a signal converter and a display screen, the signal converter is electrically connected to the image acquisition device, the image acquisition device acquires a direction and a position and transmits the acquisition direction and the position to the pixel matrix via the signal converter, the display screen measures the offset of the first characteristic mark and the second characteristic mark, and the display screen is electrically connected to the hydraulic support controller.

[0013] Furthermore, an alarm device is also included, and the alarm device is electrically connected to the image acquisition device. The introduced alarm device can alarm when the first characteristic mark or the second characteristic mark is not in the preset position, which has double protection and warning effect.

[0014] The automatic straightening method of a hydraulic support based on image recognition adopts the automatic straightening device of a hydraulic support based on image recognition as mentioned above, and the automatic straightening method comprises the following steps:

[0015] Step 1, fixing the hydraulic support and constructing the standard point: the hydraulic support is fixed at a preset position, and the top beam of the hydraulic support is fixed on top as a support; the hydraulic support for the first image acquisition is used as a reference support, and a three-dimensional coordinate axis is constructed according to the positions of the first characteristic mark and the second characteristic mark to form the first standard point and the second standard point;

[0016] Step 1-a, the image acquisition device pre-acquires, taking the hydraulic support for which the image acquisition is first performed as the reference support, and the image acquisition device arranged on the hydraulic support acquires the fixed position of the adjacent hydraulic support until the first characteristic mark and the second characteristic mark are identified; the image acquisition device identifies that the number of hydraulic supports is one or more at this time;

[0017] Step 2, image acquisition device angle correction: the image acquisition device fixed on the hydraulic support or the top beam of the hydraulic support performs image acquisition on the first characteristic mark on the previous image acquisition device, and the signal after acquisition by the image acquisition device is transmitted to the image processing platform, and the image processing platform constructs a three-dimensional coordinate axis, and the first characteristic mark forms a first target point in the three-dimensional coordinate axis; if the first target point monitored in the image processing platform is inconsistent with the first standard point, the image acquisition device is monitored by the image processing platform. The required target offset of the image acquisition device is corrected for the acquisition angle of the image acquisition device;

[0018] Step 3, image acquisition by an image acquisition device: the image acquisition device after angle correction acquires one or more adjacent hydraulic support images, and the image acquisition device transmits the hydraulic support signal containing the second characteristic mark to the image processing platform, and the second characteristic mark forms a second target point in the three-dimensional coordinate axis; if the second target point detected in the image processing platform is inconsistent with the second standard point, the required target offset of the image acquisition device is monitored by the image processing platform;

[0019] Step 4, hydraulic support alignment correction: the position offset signal measured in the image processing platform is transmitted to the hydraulic support controller, and the hydraulic support controller controls the hydraulic support to align with the adjacent hydraulic support, and the connecting line of the adjacent hydraulic support is parallel to the edge of the unmined coal seam; repeat steps 2 and 3 until all the hydraulic supports collected in the image collector are aligned, and the aligned hydraulic support is used as the reference support for the next adjacent hydraulic support;

[0020] Step 5, the conveyor pushes and aligns: after the adjacent hydraulic supports are aligned, the hydraulic support push rod pushes the conveyor, and when the conveyor reaches the set value under the action of the hydraulic support push rod, the in-place sensor responds and the hydraulic support push rod stops working; when the conveyor does not reach the set value, the hydraulic support push rod continues to push until it is in place;

[0021] Step 6, acquisition by adjacent image acquisition devices: when all hydraulic supports and conveyors within the monitoring range of the image acquisition device performing image acquisition for the first time are in place, the adjacent image acquisition device repeats steps 1 to 5, and the reference support is the hydraulic support closest to the currently working image acquisition device at this time;

[0022] Step 7: The hydraulic support controller controls the support to straighten: When all the image acquisition devices have finished working, all the hydraulic supports are aligned, and the conveyor is adjusted into place under the action of the hydraulic support controller, and then enters the next step.

[0023] The present application discloses an automatic straightening method for a hydraulic support based on image recognition. By utilizing image recognition technology, each straightening mechanism does not need to be worn out during movement, has no mechanical force, has strong anti-interference capability, and has high reliability.

[0024] Furthermore, it also includes step 1-a arranged between step 1 and step 2, in which the image acquisition device pre-acquires, takes the hydraulic support for which the image acquisition is performed for the first time as the reference support, and the image acquisition device arranged on the hydraulic support acquires the fixed position of the adjacent hydraulic support until the first characteristic mark and the second characteristic mark are recognized; the image acquisition device recognizes that the number of hydraulic supports at this time is 1 or more. When the image acquisition device can acquire at least 1 hydraulic support each time, it has a good positioning transmission judgment function, and ensures the straightening accuracy between several hydraulic supports.

[0025] The beneficial effects of the present invention are:

[0026] 1. The hydraulic support collects images through an image recognition device, and monitors the target offset through the image processing device through the first characteristic mark set on the image collection device and the second characteristic mark set on the hydraulic support. The first characteristic mark monitors whether the adjustment angle of the image collection device is consistent, which is convenient for the graphics processing platform to process data accurately, and further improves the accuracy of the position offset when the hydraulic support needs to be adjusted; the second characteristic mark monitors the setting position of the hydraulic support, and the image processing platform transmits the signal to the hydraulic support controller, and the hydraulic support controller makes an offset adjustment to the hydraulic support. After the adjustment, the image collection device is used to re-measure until the hydraulic support is aligned, so as to adjust whether the conveyor is aligned. The automation degree is high, the precision is high, and the correction is accurate; the first characteristic mark and the second characteristic mark are used for double guarantee, so as to improve the accuracy of the hydraulic device correction.

[0027] 2. The first characteristic mark and the second characteristic mark use characteristic indicator lights or reflective stickers or other easily identifiable markers to distinguish different hydraulic supports, solve the problem of difficult identification and observation in harsh conditions underground in coal mines, reduce the difficulty of image recognition, and improve anti-interference ability; the introduced alarm device can alarm when the first characteristic mark or the second characteristic mark is not in the preset position, which has double protection and warning effect.

[0028] 3. The automatic straightening method of the hydraulic support based on image recognition in this application utilizes image recognition technology. There is no need for wear and tear when the straightening mechanisms move, there is no mechanical force, strong anti-interference ability, and high reliability. When the image acquisition device can capture the two hydraulic supports each time, it has a positioning judgment function to ensure the straightening accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The foregoing and other objects, features and advantages of the present invention will become more apparent from the following detailed description taken in conjunction with the accompanying drawings.

[0030] Figure 1 It is a schematic diagram of the top view of the automatic adjustment device of the hydraulic support of the present invention;

[0031] Figure 2 It is a side structural schematic diagram of the automatic adjustment device of the hydraulic support of the present invention;

[0032] Figure 3 It is a structural schematic diagram of the image acquisition device of the present invention;

[0033] Figure 4 This is a schematic diagram of the image processing platform and electrical connection logic of the present invention;

[0034] Among them: 1 is a hydraulic support, 2 is a conveyor, 3 is a hydraulic support push rod, 4 is a hydraulic support controller, 5 is a hydraulic support top beam, 6 is an image acquisition device, 61 is a fuselage, 62 is a fixed support, 63 is a collection head, 64 is a first characteristic mark, 7 is a second characteristic mark, 8 is an image processing platform, 81 is a pixel matrix, 82 is a signal converter, 83 is a display screen, and 9 is an alarm device. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] Example 1

[0037] Reference Figure 1 — Figure 4 , an automatic straightening device for a hydraulic support based on image recognition, a conveyor 2, and a plurality of hydraulic supports 1 corresponding to the conveyor 2 when the conveyor 2 is moving, a hydraulic support push rod 3 is arranged between the hydraulic support 1 and the conveyor 2, and a hydraulic support top beam 5 is arranged above the hydraulic support 1; a hydraulic support controller 4 is arranged on the hydraulic support 1, and the hydraulic support controller 4 controls the hydraulic support 1;

[0038] It also includes an image acquisition device 6, the number of which is the same as that of the hydraulic support 1. In order to balance clarity and economic cost, the image acquisition device 6 is a camera or a video camera; the image acquisition device 6 includes a fuselage 61, a fixing bracket 62 for fixing the fuselage 61, and a collection head 63 arranged in the fuselage 61; the fuselage 61 is a semi-enclosed structure covering one side of the collection head 63; the fuselage 61 has a first characteristic mark 64, and the first characteristic mark 64 is arranged on the fuselage 61 of the previous image acquisition device 6 captured by the adjacent collection head 63; the image acquisition device is electrically connected to the hydraulic support controller 4;

[0039] It also includes a second characteristic mark 7, which is set on the hydraulic support 1; the first characteristic mark 64 and the second characteristic mark 7 are set at different horizontal planes, radial planes and transverse planes;

[0040] It also includes an image processing platform 8, which is electrically connected to the image acquisition device 6 and the hydraulic support controller 4 respectively; the image processing platform 8 includes a pixel matrix 81, a signal converter 82 and a display screen 83, the signal converter 82 is electrically connected to the image acquisition device 6, the acquisition direction and position of the image acquisition device 6 are transmitted to the pixel matrix 81 via the signal converter 82, the display screen 83 measures the offset of the first characteristic mark 64 and the second characteristic mark 7, and the display screen 83 is electrically connected to the hydraulic support controller 4;

[0041] In order to greatly reduce the difficulty of image recognition in a dim mine and improve the anti-interference ability, the first characteristic mark 64 is a characteristic indicator light, a single reflective sticker or a reflective sticker forming a characteristic pattern; the second characteristic mark 7 is a characteristic indicator light, a single reflective sticker or a reflective sticker forming a characteristic pattern, or a marker welded on the hydraulic support 1. The indicator light color or reflective sticker pattern and color of the first characteristic mark 64 and the second characteristic mark 7 are different; in this embodiment, the first characteristic mark 64 is a characteristic indicator light set on the fuselage 61, and the second characteristic mark 7 is a characteristic marker welded on the hydraulic support 1; similarly, other types of markers that are not easily contaminated can also be selected as the first characteristic mark 64 and the second characteristic mark 7 as distinguishing identification marks.

[0042] It also includes an alarm device 9 , which is electrically connected to the image acquisition device 6 .

[0043] The hydraulic support performs image acquisition through an image recognition device, and monitors the target offset through the image processing device through the target position of the first characteristic mark set on the image acquisition device and the second characteristic mark set on the hydraulic support. The first characteristic mark monitors whether the adjustment angle of the image acquisition device is consistent, which is convenient for the accuracy of data processing by the graphics processing platform, and further improves the accuracy of the position offset when the hydraulic support needs to be adjusted; the second characteristic mark monitors the setting position of the hydraulic support, and the image processing platform transmits the signal to the hydraulic support controller, and the hydraulic support controller performs offset adjustment on the hydraulic support. After the adjustment, the image acquisition device is used to re-measure until the hydraulic support is aligned, so as to adjust whether the conveyor is aligned. The automation degree is high, the accuracy is high, and the correction is accurate. The double guarantee is provided by the first characteristic mark and the second characteristic mark, thereby improving the accuracy of the hydraulic device correction.

[0044] Example 2

[0045] The automatic straightening method of the hydraulic support based on image recognition adopts the automatic straightening device of the hydraulic support 1 based on image recognition of Example 1, and the automatic straightening method comprises the following steps:

[0046] Step 1, fix the hydraulic support and construct standard points: fix the hydraulic support 1 at a preset position, and fix the hydraulic support top beam 5 on top as a support; take the hydraulic support 1 for the first image acquisition as the reference support, construct a three-dimensional coordinate axis according to the positions of the first characteristic mark 64 and the second characteristic mark 7, and form the first standard point and the second standard point;

[0047] Step 2, image acquisition device angle correction: the image acquisition device 6 fixed on the hydraulic support 1 or the hydraulic support top beam 5 performs image acquisition on the first characteristic mark 64 on the previous image acquisition device 6, and the image acquisition device 6 transmits the signal after acquisition to the image processing platform 8, and the image processing platform 8 constructs a three-dimensional coordinate axis, and the first characteristic mark 64 forms a first target point in the three-dimensional coordinate axis; if the first target point monitored in the image processing platform 8 is inconsistent with the first standard point, the image acquisition device 6 is monitored by the image processing platform 8. The required target offset is corrected for the image acquisition device 6;

[0048] Step 3, image acquisition by the image acquisition device: the image acquisition device 6 after angle correction acquires one or more adjacent hydraulic support 1 images, and the image acquisition device 6 transmits the hydraulic support 1 signal containing the second characteristic mark 7 to the image processing platform 8, and the second characteristic mark 7 forms a second target point in the three-dimensional coordinate axis; if the second target point detected in the image processing platform 8 is inconsistent with the second standard point, the required target offset of the image acquisition device 6 is monitored by the image processing platform 8;

[0049] Step 4, hydraulic support alignment correction: the position offset signal measured in the image processing platform 8 is transmitted to the hydraulic support controller 4, and the hydraulic support controller 4 controls the hydraulic support 1 to be aligned with the adjacent hydraulic support 1, and the connecting line of the adjacent hydraulic support 1 is parallel to the edge of the unmined coal seam; repeat steps 2 and 3 until all the hydraulic supports 1 collected in the image collector are aligned, and the aligned hydraulic support 1 is used as the reference support for the next adjacent hydraulic support 1;

[0050] Step 5, conveyor push alignment: after the adjacent hydraulic supports 1 are aligned, the hydraulic support push rod 3 pushes the conveyor 2. When the conveyor 2 reaches the set value under the action of the hydraulic support push rod 3, the in-place sensor responds and the hydraulic support push rod 3 stops working; when the conveyor 2 does not reach the set value, the hydraulic support push rod 3 continues to push until it is in place;

[0051] Step 6, acquisition by adjacent image acquisition devices: when all hydraulic supports and conveyors 2 within the monitoring range of the image acquisition device 6 performing image acquisition for the first time are in place, its adjacent image acquisition device 6 repeats steps 1 to 5, and the reference support is the hydraulic support 1 that is closest to the currently working image acquisition device 6;

[0052] Step 7: The hydraulic support controller controls the support to straighten: When all the image acquisition devices 6 have finished working, all the hydraulic supports 1 are aligned, and the conveyor 2 is adjusted into place under the action of the hydraulic support controller, and then the next step is entered.

[0053] The automatic straightening method utilizes image recognition technology, and each straightening mechanism does not need to be worn when in motion, has no mechanical force, has strong anti-interference ability, and has high reliability.

[0054] Based on the above ideal embodiments of the present invention, the relevant staff can make various changes and modifications without departing from the technical concept of the present invention through the above description. The technical scope of the present invention is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. An automatic straightening device for a hydraulic support based on image recognition, comprising a conveyor and a plurality of hydraulic supports corresponding to the conveyor when the conveyor is moving, characterized in that: A hydraulic support push rod is arranged between the hydraulic support and the conveyor, and a hydraulic support top beam is arranged above the hydraulic support; a hydraulic support controller is arranged on the hydraulic support, and the hydraulic support controller controls the hydraulic support; It also includes image acquisition devices, the number of which is the same as that of the hydraulic supports; the image acquisition devices include a fuselage, a fixing support for fixing the fuselage, and a collection head arranged in the fuselage; the fuselage is a semi-enclosed structure covering one side of the collection head; the fuselage has a first characteristic mark, which is arranged on the fuselage of the previous image acquisition device where the adjacent collection head of which the image is collected is located; the image acquisition device is electrically connected to the hydraulic support controller; It also includes a second characteristic mark, which is set on the hydraulic support; the first characteristic mark and the second characteristic mark are set at different horizontal planes, radial planes and transverse planes; It also includes an image processing platform, which is electrically connected to the image acquisition device and the hydraulic support controller respectively.

2. The automatic straightening device for hydraulic supports based on image recognition according to claim 1, characterized in that: The image acquisition device is a camera or a video camera.

3. The automatic straightening device for hydraulic supports based on image recognition according to claim 1, characterized in that: The first characteristic mark is a characteristic indicator light, a single reflective sticker or a reflective sticker forming a characteristic pattern; the second characteristic mark is a characteristic indicator light, a single reflective sticker or a reflective sticker forming a characteristic pattern, or a marker welded on the hydraulic support. The indicator light color or reflective sticker pattern and color of the first characteristic mark and the second characteristic mark are different.

4. The automatic straightening device for hydraulic supports based on image recognition according to claim 1, characterized in that: The image processing platform includes a pixel matrix, a signal converter and a display screen. The signal converter is electrically connected to an image acquisition device. The acquisition direction and position of the image acquisition device are transmitted to the pixel matrix via the signal converter. The display screen measures the offset of the first characteristic mark and the second characteristic mark. The display screen is electrically connected to a hydraulic support controller.

5. The automatic straightening device for hydraulic support based on image recognition according to claim 1, characterized in that: It also includes an alarm device, which is electrically connected to the image acquisition device.

6. The automatic straightening method of hydraulic support based on image recognition is characterized in that: The automatic straightening device for a hydraulic support based on image recognition as claimed in any one of claims 1 to 5 is adopted, and the automatic straightening method thereof comprises the following steps: Step 1, fixing the hydraulic support and constructing the standard point: the hydraulic support is fixed at a preset position, and the top beam of the hydraulic support is fixed on top as a support; the hydraulic support for the first image acquisition is used as a reference support, and a three-dimensional coordinate axis is constructed according to the positions of the first characteristic mark and the second characteristic mark to form the first standard point and the second standard point; Step 2, image acquisition device angle correction: the image acquisition device fixed on the hydraulic support or the top beam of the hydraulic support performs image acquisition on the first characteristic mark on the previous image acquisition device, and the signal after acquisition by the image acquisition device is transmitted to the image processing platform, and the image processing platform constructs a three-dimensional coordinate axis, and the first characteristic mark forms a first target point in the three-dimensional coordinate axis; if the first target point monitored in the image processing platform is inconsistent with the first standard point, the image acquisition device is monitored by the image processing platform. The required target offset of the image acquisition device is corrected for the acquisition angle of the image acquisition device; Step 3, image acquisition by an image acquisition device: the image acquisition device after angle correction acquires one or more adjacent hydraulic support images, and the image acquisition device transmits the hydraulic support signal containing the second characteristic mark to the image processing platform, and the second characteristic mark forms a second target point in the three-dimensional coordinate axis; if the second target point detected in the image processing platform is inconsistent with the second standard point, the required target offset of the image acquisition device is monitored by the image processing platform; Step 4, hydraulic support alignment correction: the position offset signal measured in the image processing platform is transmitted to the hydraulic support controller, and the hydraulic support controller controls the hydraulic support to align with the adjacent hydraulic support, and the connecting line of the adjacent hydraulic support is parallel to the edge of the unmined coal seam; repeat steps 2 and 3 until all the hydraulic supports collected in the image collector are aligned, and the aligned hydraulic support is used as the reference support for the next adjacent hydraulic support; Step 5, the conveyor pushes and aligns: after the adjacent hydraulic supports are aligned, the hydraulic support push rod pushes the conveyor, and when the conveyor reaches the set value under the action of the hydraulic support push rod, the in-place sensor responds and the hydraulic support push rod stops working; when the conveyor does not reach the set value, the hydraulic support push rod continues to push until it is in place; Step 6, acquisition by adjacent image acquisition devices: when all hydraulic supports and conveyors within the monitoring range of the image acquisition device performing image acquisition for the first time are in place, the adjacent image acquisition device repeats steps 1 to 5, and the reference support is the hydraulic support closest to the currently working image acquisition device at this time; Step 7: The hydraulic support controller controls the support to straighten: When all the image acquisition devices have finished working, all the hydraulic supports are aligned, and the conveyor is adjusted into place under the action of the hydraulic support controller, and then enters the next step.

7. The automatic straightening method of a hydraulic support based on image recognition according to claim 6, characterized in that: The method further includes step 1-a disposed between step 1 and step 2, wherein an image acquisition device pre-acquires images, and uses the hydraulic support for which the image acquisition is first performed as a reference support, and an image acquisition device disposed on the hydraulic support acquires images of adjacent hydraulic support fixed positions until the first characteristic mark and the second characteristic mark are identified; The image acquisition device recognizes that the number of hydraulic supports is one or more at this time.

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