A positioning method of a downhole advance support device

Abstract

The application provides a positioning method of an underground advanced support device, the support device comprising: a plurality of support units and a carrying device, the plurality of support units being sequentially arranged in a roadway, and the carrying device being used for sequentially carrying the plurality of support units, and the positioning method comprising the following steps: setting the interval of adjacent support units, and setting the preset stroke of the carrying device according to the interval; acquiring the detection stroke of the carrying device; acquiring the actual position of the support unit; and correcting the detection stroke according to the actual position until the detection stroke reaches the preset stroke. Compared with the prior art, the application has the advantages that in the process that the detection stroke reaches the preset stroke, the actual position of the support unit is used to continuously correct the detection stroke of the carrying device, so that the accumulated error is eliminated, the precise walking of the carrying device is realized, and the safety and stability of the automatic support are ensured.

Description

Technical Field

[0001] This application relates to the field of advanced support technology, and in particular to a positioning method for a downhole advanced support device. Background Technology

[0002] With the development of my country's coal industry, the depth of coal mining has been increasing, leading to the emergence of a large number of complex roadways. At the same time, the promotion and advancement of mechanization and automation are accelerating. For example, material handling equipment moves multiple support units in sequence to achieve automatic support. The automation control performance indicators of material handling equipment include safety, stopping accuracy, and stability. Controlling these performance indicators is actually speed control, so as to meet the requirements of operation. Position detection is a crucial link in speed control. Summary of the Invention

[0003] This application aims to at least partially address one of the technical problems in the related art.

[0004] Therefore, the purpose of this application is to propose a positioning method for downhole advance support devices.

[0005] To achieve the above objectives, this application proposes a positioning method for an underground pre-support device. The support device includes: multiple support units and a transport device. The multiple support units are sequentially arranged in a roadway. The transport device is used to transport the multiple support units sequentially. The positioning method includes: setting the spacing between adjacent support units and setting a preset stroke of the transport device according to the spacing; obtaining the detection stroke of the transport device; obtaining the actual position of the support unit; and correcting the detection stroke according to the actual position until the detection stroke reaches the preset stroke.

[0006] The step of setting the preset travel distance of the conveying device according to the spacing includes: setting the starting position at a preset distance in front of the foremost support unit and at a preset distance from the foremost support unit; setting the ending position at a preset distance behind the last support unit and at a preset distance from the last support unit; calculating the distance between the starting position and the ending position to obtain the preset travel distance.

[0007] The preset distance is 0.5m, and the spacing is 2m.

[0008] The process of obtaining the detection stroke of the conveying equipment includes: setting an encoder on the conveying equipment; fixing the input shaft of the encoder to the output shaft of the conveying equipment; and detecting the input shaft through the encoder circuit board of the encoder to obtain the detection stroke.

[0009] The method of obtaining the detection travel of the handling equipment further includes: if the detection travel cannot be obtained, issuing an alarm message and stopping the handling equipment.

[0010] The process of obtaining the actual position of the support unit includes: setting an RFID tag on the support unit; setting an RFID reader / writer on the handling equipment; and identifying the RFID tag through the RFID reader / writer to obtain the actual position.

[0011] The step of identifying the RFID tag using the RFID reader to obtain the actual location includes: setting a signal threshold based on signal strength; emitting a radio frequency signal through the RFID reader, with multiple RFID tags respectively receiving the radio frequency signal and emitting feedback signals; receiving multiple feedback signals through the RFID reader; filtering the multiple feedback signals using Kalman filtering to select the optimal feedback signal; if the signal strength of the optimal feedback signal is not less than the signal threshold, then the location of the RFID tag corresponding to the optimal feedback signal is the actual location.

[0012] The step of correcting the detection stroke based on the actual position includes: calculating the actual stroke of the handling equipment based on the actual position; comparing the actual stroke with the detection stroke; and correcting the detection stroke if the detection stroke is different from the actual stroke so that the detection stroke is the same as the actual stroke.

[0013] The step of correcting the detection travel based on the actual position further includes: after comparing the actual travel with the detection travel, adding the distance to the detection travel to obtain a first predicted position; if the actual position cannot be obtained at the first predicted position, adding the distance to the first predicted position to obtain a second predicted position, issuing a prompt message and causing the conveying equipment to continue operating; if the actual position still cannot be obtained at the second predicted position, issuing an alarm message and causing the conveying equipment to stop operating.

[0014] If the difference between the detection travel distance and the actual travel distance is greater than 3cm, then the detection travel distance and the actual travel distance are different.

[0015] After adopting the above technical solution, the advantages of this application compared with the prior art are: during the process of the detection stroke reaching the preset stroke, the detection stroke of the handling equipment is continuously corrected by the actual position of the support unit, thereby eliminating accumulated errors, realizing the precise movement of the handling equipment, and thus ensuring the safety and stability of automated support.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0018] Figure 1 This is a schematic diagram of the structure of a downhole advance support device proposed in an embodiment of this application;

[0019] Figure 2 This is a flowchart of a positioning method for a downhole pre-support device proposed in an embodiment of this application;

[0020] As shown in the figure: 1. Housing, 2. Main control circuit board, 3. RFID reader, 4. RFID tag, 5. Encoder circuit board, 6. Input shaft, 7. Protective cylinder, 8. Connecting plate, 9. Shock absorber, 10. Ring plate, 11. Reducer, 12. Output shaft, 13. Opening. Detailed Implementation

[0021] The embodiments of this application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application. Rather, the embodiments of this application include all variations, modifications, and equivalents falling within the spirit and scope of the appended claims.

[0022] like Figure 1 As shown in the figure, this application proposes a position sensor, including a housing 1, a main control circuit board 2, an RFID (Radio Frequency Identification) reader 3, multiple RFID tags 4, and an encoder. The main control circuit board 2 is disposed inside the housing 1 and includes a first input terminal and a second input terminal. The RFID reader 3 is disposed inside the housing 1, and its output terminal is electrically connected to the first input terminal of the main control circuit board 2. The input terminal of the RFID reader 3 extends outside the housing 1 and identifies the RFID tags 4. The encoder is disposed inside the housing 1 and includes an encoder circuit board 5 and an input shaft 6. The output terminal of the encoder circuit board 5 is electrically connected to the second input terminal of the main control circuit board 2. The input shaft 6 is rotatably connected to the housing 1 and extends outside the housing 1. The input terminal of the encoder circuit board 5 detects the input shaft 6.

[0023] It is understandable that by using the RFID reader 3 in conjunction with multiple RFID tags 4, multiple fixed positions can be detected. By using the encoder circuit board 5 of the encoder in conjunction with the input shaft 6, the stroke can be detected. This makes it easy to use fixed positions to correct the detected stroke, thereby eliminating accumulated errors, improving the overall position detection accuracy, and thus ensuring the safety and stability of automated support.

[0024] In some embodiments, the main control circuit board 2 further includes an output terminal, which is used to connect to an external controller, host, or other control device.

[0025] In some embodiments, the housing 1 is a cylindrical structure with a built-in cavity. The main control circuit board 2, the RFID reader / writer 3 and the encoder circuit board 5 are all fixedly installed in the cavity of the housing 1. The input shaft 6 is located at one end of the housing 1 and the input end of the RFID reader / writer 3 is located at the other end of the housing 1.

[0026] like Figure 1 As shown, in some embodiments, the position sensor further includes a protective cylinder 7, multiple connecting plates 8, and a shock absorber 9. The protective cylinder 7 is provided with a first opening and a second opening. The housing 1 is disposed inside the protective cylinder 7. The input end of the RFID reader 3 is located inside the first opening. The input shaft 6 extends from the second opening to the outside of the protective cylinder 7. Multiple connecting plates 8 are distributed circumferentially between the protective cylinder 7 and the housing 1 along the input shaft 6. The shock absorber 9 is fixedly connected to the connecting plates 8 and the protective cylinder 7 respectively, and the shock absorber 9 causes the connecting plates 8 to abut against the housing 1.

[0027] Understandably, the protective sleeve 7 not only facilitates the installation of the position sensor but also provides external protection for the position sensor, effectively extending its service life. At the same time, the connecting plate 8 and the shock absorber 9 provide flexible protection for the position sensor. When the protective sleeve 7 is subjected to external impact, the position sensor does not vibrate synchronously with the protective sleeve 7, thereby reducing external interference to the position sensor and ensuring accurate detection while further extending its service life.

[0028] like Figure 1 As shown, in some embodiments, the connecting plate 8 is an arc structure adapted to the housing 1, and a buffer layer such as a rubber pad or silicone pad is fixedly provided on the side of the connecting plate 8 that abuts against the housing 1.

[0029] like Figure 1 As shown, in some embodiments, the first orifice and the second orifice are located at the two ends of the protective cylinder 7, and the first orifice and the second orifice are connected.

[0030] like Figure 1As shown, in some embodiments, the position sensor also includes an annular plate 10, which is fixedly fitted onto the end of the protective cylinder 7 away from the input shaft 6, and the annular plate 10 is provided with multiple through holes.

[0031] Understandably, the ring plate 10 and its through holes make the protective cylinder 7 easy to fix and disassemble, effectively improving the efficiency of the position sensor's assembly and disassembly.

[0032] like Figure 1 As shown, in some embodiments, the shock absorber 9 includes a spring and a damping element. The spring is fixedly connected to the connecting plate 8 and the protective cylinder 7 respectively, and the spring causes the connecting plate 8 to abut against the housing 1. The damping element is fixedly connected to the connecting plate 8 and the protective cylinder 7 respectively, and the spring is fitted onto the damping element.

[0033] Understandably, the combination of spring and damping components not only provides flexible protection for the position sensor with the protective cylinder 7, but also absorbs the external impact force received by the protective cylinder 7, thereby reducing the impact of the protective cylinder 7 on the position sensor and ensuring the detection accuracy and service life of the position sensor.

[0034] In some embodiments, the shock absorber 9 includes a buffer sheet, which is fixedly connected to the connecting plate 8 and the protective cylinder 7 respectively, and the buffer sheet causes the connecting plate 8 to abut against the housing 1.

[0035] It should be noted that the buffer sheet, also known as the buffer layer isolation adhesive, is used to absorb impact force.

[0036] Understandably, by setting up the buffer plate, not only can the protective cylinder 7 provide flexible protection for the position sensor, but it can also absorb the external impact force received by the protective cylinder 7, thereby reducing the impact of the protective cylinder 7 on the position sensor and ensuring the detection accuracy and service life of the position sensor.

[0037] like Figure 1 As shown, based on the above-mentioned position sensor, this application embodiment also proposes an underground advanced support device. The support device includes multiple support units, a handling device, and the position sensor as described above. The multiple support units are sequentially arranged in the roadway. The handling device is used to sequentially handle the multiple support units. The handling device includes a traction unit, which includes an output shaft 12. A housing 1 is fixedly arranged on the traction unit. An input shaft 6 is fixedly connected to the output shaft 12, and the central axis of the input shaft 6 coincides with the central axis of the output shaft 12. An RFID tag 4 is arranged on the support unit.

[0038] It is understandable that by using the RFID reader 3 in conjunction with multiple RFID tags 4, the positions of multiple support units can be detected. By using the encoder circuit board 5 of the encoder in conjunction with the input shaft 6, the travel of the handling equipment can be detected. This makes it easy to use the position of the support unit to correct the detected travel of the handling equipment, thereby eliminating accumulated errors, achieving precise movement of the handling equipment, and thus ensuring the safety and stability of automated support.

[0039] In some embodiments, the transport device further includes a transport trolley, which is slidably disposed in the roadway along its length. A traction unit is disposed on the transport trolley, and the traction unit drives the transport trolley to move along the length of the roadway, thereby realizing the movement of the transport trolley.

[0040] In some embodiments, a track is fixedly installed on the top plate of the transfer machine or the roadway along the length of the roadway, and a guide rail corresponding to the track is fixedly installed on the transfer trolley. The guide rail is slidably connected to the track, thereby realizing the sliding setting of the transfer trolley in the roadway.

[0041] In some embodiments, the traction unit includes a traction motor and a reducer 11. The reducer 11 is connected to the traction motor in a transmission manner. An output shaft 12 is provided on the reducer 11, and the housing 1 is fixedly mounted on the reducer 11.

[0042] In some embodiments, the traction motor and the reducer 11 are both fixedly mounted on the transport trolley, and a gear is fixedly mounted on the output shaft 12. The guide rail is a toothed rail, and the gear meshes with the toothed rail. Under the drive of the traction motor, the gear rotates relative to the toothed rail and drives the transport trolley to travel in the alley. The encoder can obtain the actual travel of the transport equipment by detecting the output shaft 12.

[0043] like Figure 1 As shown, in some embodiments, the reducer 11 is provided with an opening 13, the ring plate 10 of the position sensor is fixedly disposed on the reducer 11, and the protective cylinder 7 of the position sensor passes through the opening 13 and is located inside the reducer 11.

[0044] It is understandable that by setting the opening 13, the position sensor is located inside the reducer 11, which not only facilitates the fixed connection between the output shaft 12 and the input shaft 6, but also further protects the position sensor. Furthermore, the ring structure of the ring plate 10 facilitates the installation of the position sensor on the reducer 11 without affecting the recognition of the RFID tag 4 by the input end of the RFID reader 3.

[0045] like Figure 1 As shown, in some embodiments, the threaded rods of multiple bolts pass through multiple through holes on the ring plate 10 in sequence and are threadedly connected to the reducer 11, and the heads of the bolts abut against the reducer 11, thereby fixing the position sensor on the reducer 11.

[0046] In some embodiments, the support device further includes a controller, the input of which is electrically connected to the output of the main control circuit board 2, and the output of which is electrically connected to the input of the traction unit.

[0047] Understandably, the position sensor sends the calibrated position signal of the handling equipment to the controller, so that the controller can accurately control the handling equipment, support units and other components, thus ensuring the safety and stability of automated support.

[0048] like Figure 2 As shown, based on the above-mentioned downhole advance support device, this application embodiment also proposes a positioning method for the downhole advance support device, the positioning method including:

[0049] S1: Set the spacing between adjacent support units and set the preset stroke of the handling equipment according to the spacing;

[0050] S2: Obtain the detection stroke of the handling equipment;

[0051] S3: Obtain the actual position of the support unit;

[0052] S4: Adjust the detection stroke according to the actual position until the detection stroke reaches the preset stroke.

[0053] Understandably, during the process of the detection stroke reaching the preset stroke, the detection stroke of the handling equipment is continuously corrected by using the actual position of the support unit, thereby eliminating accumulated errors, realizing the precise movement of the handling equipment, and thus ensuring the safety and stability of automated support.

[0054] In some embodiments, step S1, setting the preset stroke of the conveying device according to the spacing, includes:

[0055] S11: Set the starting position at a preset distance in front of the foremost support unit and from the foremost support unit;

[0056] S12: The endpoint position is set at the distance from the last support unit, behind the last support unit.

[0057] S13: Calculate the distance between the starting position and the ending position to obtain the preset travel distance.

[0058] Understandably, by setting a preset travel distance, the handling equipment can complete the movement according to the preset travel distance and realize the handling of multiple support units, thus ensuring the accurate realization of automated support.

[0059] It should be noted that the spacing between adjacent support units is a fixed value. When calculating the distance between the starting position and the ending position, the preset distance is added to the number of support units multiplied by the spacing to obtain the preset travel distance.

[0060] In some embodiments, the preset distance is 0.5m and the spacing is 2m. It can be understood that if the number of support units is 5, the preset stroke is 10.5m.

[0061] In some embodiments, step S2: obtaining the detection stroke of the handling equipment includes:

[0062] S21: Install encoders on the handling equipment;

[0063] S22: Fix the input shaft 6 of the encoder to the output shaft 12 of the conveying equipment;

[0064] S23: The input shaft 6 is detected by the encoder circuit board 5 of the encoder to obtain the detection stroke.

[0065] It is understandable that the encoder circuit board 5 of the encoder and the input shaft 6 cooperate to detect the travel of the handling equipment, thereby obtaining the detected travel, so that the support device can accurately control the movement of the handling equipment according to the detected travel, and realize automated support.

[0066] In some embodiments, step S2: obtaining the detection stroke of the handling equipment further includes:

[0067] S24: If the detection travel cannot be obtained, an alarm message will be issued and the handling equipment will stop operating.

[0068] Understandably, the inability to obtain the detection travel distance will prevent the support device from accurately controlling the movement of the transport equipment. By issuing an alarm and stopping the movement of the transport equipment, the operators can handle the fault in a timely manner, avoid the transport equipment from traveling too far or exceeding the range, and ensure the safety of automated support.

[0069] In some embodiments, step S3: obtaining the actual position of the support unit includes:

[0070] S31: Set RFID tag 4 on the support unit;

[0071] S32: Install RFID reader / writer 3 on the handling equipment;

[0072] S33: Identify the RFID tag 4 using the RFID reader 3 to obtain the actual location.

[0073] Understandably, by using the RFID reader 3 in conjunction with multiple RFID tags 4, the positions of multiple support units can be detected, thereby enabling the entire system to use the actual position to correct the detection stroke and achieve precise movement of the handling equipment.

[0074] In some embodiments, step S33: identifying the RFID tag 4 via the RFID reader 3 to obtain the actual location includes:

[0075] S331: Set the signal threshold based on the signal strength;

[0076] S332: Radio frequency signals are emitted through RFID reader 3, and multiple RFID tags 4 receive the radio frequency signals and emit feedback signals respectively;

[0077] S333: Receives multiple feedback signals via RFID reader 3;

[0078] S334: Use Kalman filtering to select the optimal feedback signal from multiple feedback signals;

[0079] S335: If the signal strength of the optimal feedback signal is not less than the signal threshold, then the position of the RFID tag 4 corresponding to the optimal feedback signal is the actual position.

[0080] It is understandable that, since there are multiple RFID tags 4 and the distance between the handling equipment and the RFID tags 4 changes continuously during the movement of the equipment, the actual position can be accurately obtained by filtering the optimal feedback signal and comparing the signal threshold. Specifically, when the actual position of the support unit is obtained using the RFID reader 3, the support unit is the closest to the handling equipment among the multiple support units, and the support unit is at the closest point to the handling equipment during the movement of the equipment, thus ensuring accurate correction of the detection stroke.

[0081] It should be noted that Kalman filtering is an algorithm that uses the state equations of a linear system to make an optimal estimate of the system state through the system's input and output observation data; the signal threshold is set according to the signal strength when the handling equipment and the support unit are closest.

[0082] In some embodiments, step S4, correcting the detection stroke based on the actual position, includes:

[0083] S41: Calculate the actual travel distance of the handling equipment based on the actual location;

[0084] S42: Compare the actual travel distance with the test travel distance;

[0085] S43: If the detection stroke is different from the actual stroke, then correct the detection stroke to make the detection stroke the same as the actual stroke.

[0086] Understandably, since the position of the support unit is fixed, calibrating the detection stroke to match the actual stroke ensures accurate calibration of the detection stroke and guarantees the safety and stability of automated support.

[0087] It should be noted that the actual travel distance is the distance from the actual position to the starting position; the accurate spacing value should be ensured between adjacent support units.

[0088] In some embodiments, when support units are first installed in the roadway, the distance between adjacent support units can be determined by detecting the travel distance or other measuring instruments, and then the actual position of the support units is used to correct the travel distance during the subsequent automated support process.

[0089] In some embodiments, step S4, correcting the detection stroke based on the actual position, further includes:

[0090] S44: After comparing the actual travel distance with the detection travel distance, the detection travel distance is accumulated by adding the interval to obtain the first predicted position;

[0091] S45: If the actual position cannot be obtained at the first predicted position, the distance is added to the first predicted position to obtain the second predicted position, and a prompt message is issued and the handling equipment continues to operate.

[0092] S46: If the actual position cannot be obtained at the second predicted position, an alarm message will be issued and the handling equipment will stop operating.

[0093] Understandably, by setting the first prediction position, it is possible to determine whether a single RFID tag 4 is damaged, and even a single RFID tag 4 will not affect the correction of the detection stroke. At the same time, by issuing a prompt message, it prompts the operator to perform timely maintenance when the machine is stopped. By setting the second prediction position, it is possible to determine whether the RFID reader 3 or multiple RFID tags 4 are damaged, and by issuing an alarm message and stopping the movement of the handling equipment, the operator can handle the fault in a timely manner, avoid excessive error in the detection stroke, and ensure the safety and stability of automated support.

[0094] In some embodiments, if the difference between the detection travel and the actual travel is greater than 3 cm, then the detection travel and the actual travel are different.

[0095] Understandably, setting a 3cm margin allows for a certain deviation range during detection stroke correction, preventing excessively high correction frequencies and improving the efficiency of automated support.

[0096] It should be noted that in the description of this application, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, in the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0097] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0098] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0099] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for positioning a downhole pre-support device, characterized in that, The support device includes: multiple support units, a transport device, and a position sensor. The multiple support units are sequentially arranged in the roadway. The transport device is used to transport the multiple support units sequentially. The transport device includes: a traction unit, and the traction unit includes: an output shaft. The position sensor includes: a housing, a main control circuit board, an RFID reader / writer, multiple RFID tags, and an encoder. The housing is fixedly mounted on the traction unit. The main control circuit board is located inside the housing and includes a first input terminal and a second input terminal. The RFID reader / writer is located inside the housing, and its output terminal is electrically connected to the first input terminal of the main control circuit board. The input terminal of the RFID reader / writer extends outside the housing. The RFID tags are mounted on the support unit, and the input terminal of the RFID reader / writer identifies the RFID tags. The encoder is located inside the housing and includes: an encoder circuit board and an input shaft. The output terminal of the encoder circuit board is electrically connected to the second input terminal of the main control circuit board. The input shaft is rotatably connected to the housing and extends outside the housing. The input shaft is fixedly connected to the output shaft, and the central axis of the input shaft coincides with the central axis of the output shaft. The input terminal of the encoder circuit board detects the input shaft. The position sensor also includes a protective cylinder, multiple connecting plates, and shock absorbers. The protective cylinder is provided with a first opening and a second opening. The housing is located inside the protective cylinder. The input end of the RFID reader is located inside the first opening. The input shaft extends from the second opening to the outside of the protective cylinder. Multiple connecting plates are distributed circumferentially between the protective cylinder and the housing along the input shaft. The shock absorbers are fixedly connected to the connecting plates and the protective cylinder respectively. The shock absorbers cause the connecting plates to abut against the housing. The speed reducer has an opening, the ring plate of the position sensor is fixedly mounted on the speed reducer, and the protective cylinder of the position sensor passes through the opening and is located inside the speed reducer; The housing is a cylindrical structure with an internal cavity. The main control circuit board, RFID reader and encoder circuit board are all fixedly installed inside the cavity of the housing. The input shaft is located at one end of the housing, and the input end of the RFID reader is located at the other end of the housing. The positioning method includes: Set the spacing between adjacent support units, and set the preset stroke of the conveying device according to the spacing; The detection stroke of the conveying equipment is obtained through the position sensor; The actual position of the support unit is obtained through the position sensor; The detection stroke is adjusted according to the actual position until the detection stroke reaches the preset stroke. The step of obtaining the actual position of the support unit includes: setting an RFID tag on the support unit; setting an RFID reader / writer on the handling equipment; and identifying the RFID tag through the RFID reader / writer to obtain the actual position. The step of identifying the RFID tag using the RFID reader to obtain the actual location includes: setting a signal threshold based on signal strength; emitting a radio frequency signal through the RFID reader, with multiple RFID tags respectively receiving the radio frequency signal and emitting feedback signals; receiving multiple feedback signals through the RFID reader; filtering the multiple feedback signals using Kalman filtering to select the optimal feedback signal; if the signal strength of the optimal feedback signal is not less than the signal threshold, then the location of the RFID tag corresponding to the optimal feedback signal is the actual location. The step of correcting the detection stroke based on the actual position includes: calculating the actual stroke of the conveying equipment based on the actual position; comparing the actual stroke with the detection stroke; if the detection stroke is different from the actual stroke, correcting the detection stroke to make the detection stroke the same as the actual stroke; The step of correcting the detection travel based on the actual position further includes: after comparing the actual travel with the detection travel, adding the distance to the detection travel to obtain a first predicted position; if the actual position cannot be obtained at the first predicted position, adding the distance to the first predicted position to obtain a second predicted position, issuing a prompt message and causing the conveying equipment to continue operating; if the actual position still cannot be obtained at the second predicted position, issuing an alarm message and causing the conveying equipment to stop operating. The process of obtaining the detection stroke of the conveying equipment includes: setting an encoder on the conveying equipment; fixing the input shaft of the encoder to the output shaft of the conveying equipment; detecting the input shaft through the encoder circuit board of the encoder to obtain the detection stroke; if the detection stroke cannot be obtained, issuing an alarm message and stopping the conveying equipment.

2. The positioning method of the downhole advance support device according to claim 1, characterized in that, The step of setting the preset stroke of the conveying equipment according to the spacing includes: The starting position is set at a preset distance in front of the foremost support unit and from the foremost support unit; The endpoint position is set at the distance from the last support unit and behind the last support unit. The distance between the starting position and the ending position is calculated to obtain the preset travel distance.

3. The positioning method for the downhole advance support device according to claim 2, characterized in that, The preset distance is 0.5m, and the spacing is 2m.

4. The positioning method of the downhole advance support device according to claim 1, characterized in that, If the difference between the detection travel distance and the actual travel distance is greater than 3cm, then the detection travel distance and the actual travel distance are different.

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