A hydraulic support pose adjustment virtual planning system

Abstract

The present invention belongs to the field of hydraulic support posture monitoring and reverse control technology, specifically a hydraulic support posture adjustment virtual planning system. It includes: an analyzer for loading working condition data W The analyzer quantitatively describes the abnormal posture information of the bracket included in the working condition data, and generates the abnormal posture quantification data. Q Output, knowledge base, receiving abnormal pose quantification data exported by the analyzer Q , output the corresponding bracket each frame jack coordinated combination mode S , and output the result; parser, receives abnormal posture quantization data Q Coordinated combination of the bracket and the jacks S Perform analytical calculations to obtain the elongation sequence corresponding to each jack ES The calculation results are packaged and output; the planner receives the elongation sequence corresponding to each adjustment jack ES, The virtual planning of the bracket posture adjustment path is carried out, and the optimal bracket adjustment path is finally derived.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of hydraulic support pose monitoring and reverse control, and specifically relates to a virtual planning system for hydraulic support pose adjustment. BACKGROUND

[0002] The hydraulic support equipment group is the core equipment of the fully mechanized coal mining face, is responsible for the coal seam roof support, the push and the scraper conveyor, and ensures the safety of the staff and the production work. At present, the research on the pose monitoring of the hydraulic support group has made in-depth progress, and the monitoring means tends to be diversified. Many scholars have designed different sensor arrangement modes based on traditional inertial navigation units and inclination sensors, combined with advanced data processing technologies, to realize the accurate positioning and pose of the hydraulic support. Some scholars combine traditional monitoring means, new monitoring means and advanced computer science-based data analysis technologies, such as laser radar, depth point cloud technology, image processing technology and virtual reality technology, to realize the joint positioning and pose of the equipment based on multi-source data fusion.

[0003] The intelligentization of the fully mechanized mining equipment is a key link in the big framework of the smart mine. With the continuous progress of the hydraulic support monitoring technology, the reverse control of the physical equipment by using the monitoring data has gradually become the main research direction for realizing the intelligent control of the hydraulic support. The virtual fully mechanized mining scene construction technology and the virtual simulation running technology of the fully mechanized mining equipment provide a new idea for solving the equipment reverse control method based on the monitoring data. The virtual scene is driven by the working condition monitoring data to realize the pose reproduction of the physical equipment in the virtual scene. The equipment pose data is directly obtained from the virtual scene for processing and analysis, and the calculation result can be used for the reverse control of the equipment, which has important significance for realizing the equipment decision and intelligent control.

[0004] In the prior art, a Chinese patent with the application publication number CN105927259A discloses a two-column hydraulic support pose detection and control system and its application. The system transmits the data measured by the acceleration sensor, the travel sensor and the laser range finder to the controller, adopts the PID control rule to realize the real-time full-attitude control of the hydraulic support pose, controls the opening and flow size of the electromagnetic proportional valve through the controller, so as to realize the rapid horizontal lifting and lowering of the hydraulic support and the intelligent top sticking, and improves the lifting and moving speed of the hydraulic support and the speed of following the machine.

[0005] A Chinese patent with the application publication number CN108252733A discloses a hydraulic support intelligent control method for the self-adaptive support of the surrounding rock of the fully mechanized mining face. The original fixed parameter values which have a decisive influence on the adaptability of the hydraulic support are set to be adjustable through the adjusting device (including the column socket position, the safety valve opening value and the like), and then the adjusting device is used to adaptively control the support strength, the rigidity and the stability of the hydraulic support, so as to improve the ability of the hydraulic support to adapt to the external surrounding rock conditions.

[0006] A kind of group hydraulic support position obtaining method based on expert system is disclosed in Chinese patent with application publication number CN111287776A, by establishing expert system based on the movement parameter of hydraulic support and scraper conveyor floating connection mechanism when hydraulic support pushes scraper conveyor on coal seam, relative position of hydraulic support and scraper conveyor, position of hydraulic support on coal seam;Pushing cylinder elongation length and the inclination of hydraulic support base on coal seam are input into knowledge base and inference machine, and finally the corresponding hydraulic support position of hydraulic support in virtual environment is obtained.

[0007] Although there are many methods for hydraulic support pose monitoring and intelligent control at present, these methods are mostly for accurate positioning and pose control of single hydraulic support, and do not really use monitoring data to control the action of support. In existing research, the relative pose relationship of hydraulic support and its adjacent equipment and the control of relative pose are rarely considered, but in the real underground operation process, the contact and collision between adjacent hydraulic supports are important factors leading to abnormal working conditions, and the pose of support is often adjusted according to adjacent equipment. Therefore, it is necessary to study the intelligent adjustment method of hydraulic support pose based on the relative pose relationship of hydraulic support and its adjacent equipment. SUMMARY

[0008] The present application provides a hydraulic support pose adjustment virtual planning system to solve the above problems.

[0009] The present application adopts the following technical scheme: a hydraulic support pose adjustment virtual planning system, comprising: an analyzer for loading working condition data W , the analyzer quantitatively describes the abnormal pose information of the support included in the working condition data, and outputs the result abnormal pose quantitative data Q , a knowledge base receiving the abnormal pose quantitative data exported by the analyzer Q , outputting the corresponding cooperative combination mode of each adjusting support jack of the support S , and outputting the result; a parser receiving the abnormal pose quantitative data Q and the cooperative combination mode of each adjusting support jack of the support S for analysis and calculation, obtaining the corresponding elongation sequence of each adjusting support jack ES , and outputting the calculation result in package; a planner receiving the corresponding elongation sequence of each adjusting support jack ES, virtually planning the support pose adjustment path, and finally exporting the optimal adjusting support path.

[0010] The analyzer based on the input working condition data W virtually reconstructs the equipment pose in virtual scene, and obtains more detailed equipment pose data from the reconstructed pose, including current support pose data and adjacent equipment pose data;

[0011] Based on the current support pose data and the adjacent equipment pose data, the support pose anomaly detection is performed, if the detection result is abnormal, the abnormal reason of the support is analyzed, and the ideal pose prediction mechanism is triggered, and the ideal pose of the current support is predicted based on the adjacent equipment pose data;

[0012] According to the current support pose data, the ideal pose and the support pose anomaly analysis result of the to-be-adjusted support, the difference between the current pose and the ideal pose is calculated, and the quantitative description of the support abnormal pose is generated Q .

[0013] The working condition data W The pose information of the adjustable support and its adjacent supports and the middle trough connected with the above supports is included, the attitude angle data of the middle trough and the support base can be obtained by using an inertial navigation unit, the inclination angle data of each support component of the support can be obtained by using an inclination sensor, the distance between the support base and the middle trough and the inter-stand distance data of the hydraulic support can be obtained by using a laser ranging or a wire-type travel sensor; the relative pose of the support and the corresponding middle trough is obtained by monitoring the attitude of the floating connection mechanism connecting the hydraulic support and the middle trough.

[0014] The specific process of the virtual reconstruction of the equipment pose is:

[0015] Based on the attitude angle data of the middle trough and the connection constraint between the middle troughs, the relative poses of the adjacent middle troughs are determined;

[0016] Based on the attitude angle data of the hydraulic support and the component inclination angle data, the support attitude of the hydraulic support in space is determined;

[0017] The vertical position of the hydraulic support is determined according to the position of the middle trough, and the relative poses of the adjacent hydraulic supports and the middle trough are determined by combining the distance between the support base and the middle trough, the inter-stand distance data of the hydraulic support, the attitude data of the floating connection mechanism of the hydraulic support and the middle trough.

[0018] The specific steps of the support pose anomaly detection are:

[0019] The lateral offset, the perpendicularity error and the relative roll angle are selected as the support pose evaluation indexes, the lateral offset refers to the deviation of the support center plane relative to the middle trough center plane along the arrangement direction of the working face, the perpendicularity error value refers to the perpendicularity error of the hydraulic support base displacement mechanism and the middle trough, and the relative roll angle refers to the relative roll angle of the adjacent hydraulic supports; the three index evaluation levels are reasonable, large and too large;

[0020] The factor domain of the evaluation object ; the comment level domain , the corresponding fuzzy comprehensive evaluation system is as follows:

[0021]

[0022] Thus, a fuzzy relationship R from U to V is determined. The membership function of this fuzzy relationship is a 3×3 order fuzzy relationship evaluation matrix:

[0023]

[0024] According to practical experience and the requirements of the bracket’s posture, first determine The value range and comment level The corresponding interval determines the weight vector of the evaluation factor according to the influence of the three evaluation indicators on the evaluation object. , the composite operator selected for evaluation is ,in represents real number multiplication, ; Using the judgment factor vector A and fuzzy relationship matrix R Generate fuzzy comprehensive evaluation vector of bracket posture , is the fuzzy comprehensive index of the three identification types; B is the support posture parameter vector is the fuzzy mathematical function of the independent variable, is the fuzzy identification function of the hydraulic support posture.

[0025] The ideal posture of the support is defined based on the operating posture requirements of the underground hydraulic support:

[0026] According to the requirements of bracket straightness and center distance, the y coordinate of the upper bracket and the x coordinate of the middle slot connected to it are taken as the x, y coordinates of the ideal posture;

[0027] The bottom plates under adjacent hydraulic supports should transition evenly, and the average value of the z coordinates of the upper and lower supports is taken as the z coordinate of the ideal posture;

[0028] Hydraulic support yaw angle The ideal value of is zero, the pitch angle and roll angle Affected by the terrain, considering that the spacing between brackets should be uniform and the support space of adjacent brackets should have a uniform transition, the ideal value is the average of the pitch angle and roll angle of the upper bracket and the lower bracket;

[0029] Taking into account the influence of the positive and negative coal cutting directions of the coal shearer on the relative relationship of the supports, the adjacent supports of the current support along the coal cutting direction are defined as the lower supports, and the adjacent supports in the opposite direction are defined as the upper supports. It is considered that the upper and lower supports are stable between the roof and floor plates of the coal seam, and the support posture is normal.

[0030] The support pose abnormality analysis is when the support pose abnormality detection result is abnormal, the fuzzy comprehensive evaluation vector B is analyzed and explained to obtain the main reason for the support pose abnormality; the support pose abnormality quantitative description Q is based on the result of the support abnormality analysis, and the support current pose data C and the ideal pose data I are subtracted to obtain the quantitative description of the support abnormal pose Q , and specifically include the specific values of the three-direction displacement and three-direction rotation of the support current pose relative to the ideal pose.

[0031] The knowledge base is finally generated based on the support pose abnormality mechanism analysis, the support adjusting device working principle and the support abnormal pose adjusting experience, and the adjusting experience and rule base is input into the knowledge base, and the corresponding adjusting jack combination collaborative mode of the abnormal pose is derived by searching and matching in the adjusting experience and rule base S ;

[0032] The support pose abnormality mechanism analysis includes analyzing the support abnormal working condition and the collision behavior between supports, the abnormal working condition includes the support biting, the support extrusion and the support falling, and the conclusion is that the main reason for the support pose abnormality is that the yaw angle of the support is too large, the relative roll angle of the adjacent support is too large and the support spacing does not meet the requirements;

[0033] The support adjusting device working principle refers to the action of the adjusting jacks of the current support and the right adjacent support when adjusting the current support pose;

[0034] The support abnormal pose adjusting experience comes from the combination and collaboration method of each adjusting jack in the actual working condition when adjusting the abnormal support pose;

[0035] The adjusting experience and rule base first classifies the possible abnormal poses of the support, preliminarily obtains the abnormal working condition, and designs the combination mode and collaborative sequence of each adjusting jack when adjusting the support pose for each working condition.

[0036] The resolver inputs the quantitative description of the support abnormal pose and the combination and collaboration mode of each adjusting jack, analyzes and outputs the elongation amount sequence ES of each adjusting jack required for adjusting the support pose, and the sequence is consistent with the combination and collaboration mode S of each adjusting jack;

[0037] The specific process is,

[0038] The key point coordinates of the support in the local coordinate system are obtained through the kinematics analysis of the hydraulic support;

[0039] The key point coordinates of the adjacent support are converted to the same coordinate system through the inter-equipment coordinate conversion method;

[0040] Finally, in the same coordinate system, the relative pose relationship of adjacent supports is analyzed according to the spatial coordinates of the pose key points of each support, and then the extension sequence ES of the jacking jack is solved;

[0041] The extension sequence ES of each jacking jack is analyzed according to the action sequence of each jacking jack during jacking, and the extension amount of each jacking jack at each step is derived in sequence.

[0042] The planner generates a jacking jack extension amount sequence ES according to the input ES The jacking jack extension amount sequence ES is the initial value. P The jacking jack extension amount sequence ES is the initial value. P The jacking jack extension amount sequence ES is the initial value. P The jacking jack extension amount sequence ES is the initial value. ES The jacking jack extension amount sequence ES is the initial value. P The jacking jack extension amount sequence ES is the initial value.

[0043] Compared with the prior art, the present application has the following beneficial effects:

[0044] 1. The analyzer of the hydraulic support pose adjustment virtual planning system of the present application can restore the equipment pose in the virtual scene based on the working condition monitoring data, facilitate more intuitive display of the support working condition, and obtain the equipment pose data in the virtual scene, facilitating pose analysis and processing.

[0045] 2. The knowledge base of the hydraulic support pose adjustment virtual planning system of the present application stores common support abnormal working condition types and their solutions, and can be expanded and improved. When an abnormal working condition not included in the knowledge base is encountered, the knowledge base will request manual intervention, perform manual jacking in the virtual scene, and store the abnormal working condition and the manual jacking method in the knowledge base. The abnormal working condition and the jacking experience can also be directly input into the knowledge base.

[0046] 3. The planner of the hydraulic support pose adjustment virtual planning system of the present application considers that the calculated jack extension amount cannot meet the requirements due to physical factors and external environmental influences during execution, so the jacking method of the support is virtually jacked and the result is evaluated to realize correction of the jacking path planning. BRIEF DESCRIPTION OF DRAWINGS

[0047] FIG. 1 For the schematic diagram of the present application. DETAILED DESCRIPTION

[0048] The technical solutions of the present application and the embodiments are described below in conjunction with the drawings, but not limited to them. Based on the technical solutions and embodiments of the present application, all other embodiments obtained without creative labor shall fall within the scope of protection of the present application.

[0049] W, a set of a series of sensing data.

[0050] I, an ideal pose vector of the hydraulic support, example: ; is the coordinate of the support local coordinate system, is the pitch angle, roll angle and yaw angle of the local coordinate system, respectively.

[0051] C, the current pose vector of the hydraulic support, example: ; the pose parameters are the same as above.

[0052] B, the comprehensive evaluation vector of the support pose ambiguity, ; is the comprehensive evaluation index, representing the support lateral offset, verticality error and relative roll angle in turn.

[0053] Q, the quantitative description vector of the support abnormal pose, example: ; is the difference between the corresponding parameters of C and I.

[0054] S, the action sequence of the hydraulic support adjustment jack, example: ; representing the top beam side push jack action, the shield beam side push jack action and the base bottom adjustment jack action of the current support in turn; representing the top beam side push jack action, the shield beam side push jack action and the base bottom adjustment jack action of the right support in turn.

[0055] ES, the action sequence of the hydraulic support adjustment jack and its extension length, example: ; wherein the number after the colon represents the extension length of the corresponding jack.

[0056] P, the hydraulic support adjustment path planning, similar to the ES format.

[0057] e, the virtual adjustment result deviation, example: ; wherein the parameter represents the deviation between the virtual adjustment result and the ideal adjustment result.

[0058] Attachment FIG. 1 The overall framework of the present invention is a virtual planning system for adjusting the hydraulic support posture, which includes an analyzer, a parser, a knowledge base and a planner, takes the working condition data as input and finally outputs the optimal adjustment path. W The data is loaded into the analyzer, which quantitatively describes the abnormal posture information of the support contained in the working condition data and generates the results. Q Imported into the knowledge base and parser respectively; the knowledge base quantifies the data according to the abnormal posture input Q , output the corresponding bracket each frame jack coordinated combination mode S , and input the results into the parser respectively; the parser is based on the quantitative description of the abnormal posture of the bracket Q Combined coordination mode of the bracket and the jacks S Perform analytical calculations to obtain the elongation sequence corresponding to each jack ES The calculation results are packaged and input into the planner; the planner is based on the elongation sequence of each jack ES , perform virtual planning on the bracket posture adjustment path, and finally derive the optimal bracket adjustment path.

[0059] The hydraulic support posture adjustment virtual planning system is developed using Unity software. The hydraulic support model is ZY11000 / 18 / 38D and the scraper conveyor model is SGZ800 / 1050. The virtual scene contains a three-dimensional model that is proportional to the real support and the corresponding middle trough.

[0060] In order to facilitate the description and analytical calculation of the pose of physical equipment and virtual equipment models, the global coordinate system of the equipment shown in the figure is defined , hydraulic support local coordinate system and local coordinates of the middle trough of the scraper conveyor , each equipment is set up with its local coordinate system. The global and local coordinate systems are both based on the direction parallel to the coal wall and the bottom plate as the X-axis, with the scraper head pointing to the tail direction as the positive direction; the direction perpendicular to the coal wall is the Y-axis, pointing to the coal wall direction is the positive direction; the direction perpendicular to the bottom plate is the Z-axis, with the upward direction as the positive direction. Among them, the position of any point in the calibration space is the origin of the global coordinate system, the origin of the local coordinate system of the middle slot is located at the geometric center of the elliptical space of the pin shaft ear seat connected to the sliding mechanism; the local coordinate system of the hydraulic support uses the three planes of the support center symmetry plane, the plane passing through the center of the rear connecting rod pin shaft and perpendicular to the base plane, and the plane passing through the pin shaft connecting the column and the base and parallel to the base plane as the reference planes, and the intersection of the three planes is the coordinate origin.

[0061] The present invention includes a virtual planning system for adjusting the hydraulic support posture. The specific steps of use are as follows:

[0062] (1) The working condition data W is input into the analyzer of the hydraulic support pose adjustment virtual planning system, the equipment pose is virtually reconstructed in the virtual scene, and more detailed equipment pose data is obtained from the reconstructed pose, which is divided into current support pose data and adjacent equipment pose data, based on which support pose anomaly detection is performed, if the detection result is abnormal, the abnormal reason of the support is analyzed, and the ideal pose prediction mechanism is triggered, and the ideal pose of the current support is predicted based on the pose data of the adjacent equipment. According to the current pose, ideal pose and support pose anomaly analysis result of the to-be-adjusted support, a quantitative description of the abnormal pose of the support is generated Q .

[0063] The working condition data W includes the pose information of the support to be adjusted and its adjacent supports and the middle trough connected with the above supports. According to the existing fully-mechanized coal mining equipment monitoring method, the attitude angle (pitch angle, roll angle and yaw angle) data of the middle trough and the support base can be obtained by using an inertial navigation unit, the inclination angle data of each main support component of the support can be obtained by using an inclination sensor, and the distance between the support base and the middle trough and the inter-stand distance data of the hydraulic support can be obtained by using a laser ranging or a wire-type travel sensor. By monitoring the attitude of the floating connection mechanism connecting the hydraulic support and the middle trough, the relative pose of the support and its corresponding middle trough can be obtained.

[0064] The equipment pose virtual reconstruction refers to driving a virtual model to reach a specified pose in a virtual scene by using the working condition data of the physical device, so as to virtually reconstruct the pose of the physical equipment. Since the three-dimensional coordinate data of the equipment cannot be directly obtained, the relative poses of the associated devices in space are virtually reconstructed by jointly positioning multiple equipment poses through the obtaining method of the working condition data. The specific reconstruction method is as follows: based on the attitude angle data of the middle trough and the connection constraint between the middle troughs, the relative poses of the adjacent middle troughs can be uniquely determined; based on the attitude angle data of the hydraulic support and the component inclination angle data, the support attitude of the hydraulic support in space can be uniquely determined; considering that the support height of the hydraulic support is adjustable and the coal seam floor is uniformly transitional, the influence of the vertical direction pose of the base on the support pose can be ignored. In the present application, the vertical position of the hydraulic support is determined according to the position of the middle trough, and the relative poses of the adjacent hydraulic supports and the middle trough are uniquely determined by combining the distance between the support base and the middle trough, the inter-stand distance data of the hydraulic support, the attitude data of the floating connection mechanism of the hydraulic support and the middle trough. In summary, the relative poses of the adjacent hydraulic supports and their corresponding middle troughs in the virtual space can be restored.

[0065] Among them, after the virtual posture reconstruction is completed, more detailed equipment posture data can be directly obtained on the virtual model, including the three-dimensional coordinates of any point in space and the posture angle data of any object, which is used for subsequent bracket posture anomaly detection and ideal posture prediction.

[0066] Among them, the analyzer's abnormal support posture detection method is implemented through the support posture fuzzy identification model combined with Unity's built-in collision detection technology. Based on the analysis of the abnormal support posture, the support's lateral offset, verticality error and relative roll angle are selected as support posture evaluation indicators. The lateral offset refers to the deviation of the support center plane relative to the center plane of the middle slot along the working surface arrangement direction. The verticality error refers to the verticality error between the hydraulic support base sliding mechanism and the middle slot. The relative roll angle refers to the relative roll angle of adjacent hydraulic supports. The three indicators are judged as reasonable, large and excessive. Therefore, the factor domain of the evaluation object ; Comment level domain , the corresponding fuzzy comprehensive evaluation system is as follows: The degree of membership of the evaluation index to level and grade:

[0067] Table 1: Fuzzy comprehensive evaluation system of hydraulic support posture

[0068]

[0069] Thus, a fuzzy relationship R from U to V is determined. The membership function of this fuzzy relationship is a 3×3 order fuzzy relationship evaluation matrix:

[0070]

[0071] According to practical experience and the requirements of the bracket’s posture, first determine The value range and comment level The corresponding interval determines the weight vector of the evaluation factor according to the influence of the three evaluation indicators on the evaluation object. , the composite operator selected for evaluation is ,in represents real number multiplication, ; Using the judgment factor vector A and fuzzy relationship matrix R Generate fuzzy comprehensive evaluation vector of bracket posture , is the fuzzy comprehensive index of the three identification types; B is the support posture parameter vector is the fuzzy mathematical function of the independent variable, is the fuzzy identification function of the hydraulic support posture.

[0072] The ideal posture is based on the support posture requirements of the hydraulic support of the fully mechanized mining working face, and is predicted by combining the posture of the hydraulic support and the middle slot adjacent to the abnormal support. The specific prediction method is: according to the requirements of the support straightness and center distance, the y coordinate of the upper support and the x coordinate of the middle slot connected to it are taken as the x, y coordinates of the ideal posture; the bottom plate below the adjacent hydraulic supports should transition evenly, so the average z coordinate of the upper support and the lower support is taken as the z coordinate of the ideal posture; the yaw angle of the hydraulic support The ideal value should be zero, the pitch angle and roll angle Considering the need for uniform support spacing and a smooth transition between adjacent supports, the ideal value is the average pitch and roll angles of the upper and lower supports, which are significantly affected by topography. Specifically, to comprehensively consider the impact of the shearer's forward and reverse coal cutting directions on the relative relationship of the supports, the support position is defined as the lower support relative to the current support in the coal cutting direction, and the upper support relative to the current support in the reverse direction. It is assumed that the upper and lower supports provide stable support between the coal seam roof and floor, and the support posture is normal.

[0073] Among them, the support posture abnormality analysis is to analyze and interpret the fuzzy comprehensive evaluation vector B=(b1, b2, b3) when the support posture abnormality detection result is abnormal. The elements of the fuzzy evaluation indicators b1, b2, b3 represent the support lateral offset, verticality error and relative roll angle respectively. By comparing the values ​​of the three indicators, the main reason for the support posture abnormality is finally obtained.

[0074] Among them, the quantitative description of the abnormal posture of the stent Q It is based on the results of the abnormal analysis of the bracket, combined with the current posture data of the bracket C and ideal pose data I , and obtain a quantitative description of the abnormal posture of the stent Q , specifically including the specific values ​​of the displacement in three directions and the rotation in three directions of the current posture of the bracket relative to the ideal posture.

[0075] (2) Based on the analysis of the abnormal support posture mechanism, the working principle of the support adjustment device, and the experience of adjusting the abnormal support posture, the adjustment experience and rule base are generated to establish the knowledge base of the hydraulic support posture adjustment virtual planning system. Quantify the abnormal support posture Q Input the knowledge base, search and match in the frame adjustment experience and rule base, and derive the corresponding frame adjustment jack combination coordination mode for the abnormal posture S .

[0076] The present invention takes the case where the frame adjustment devices are all installed on the left side of the bracket as an example, T1, T2, T3 are the top beam side push jacks, shield beam side push jacks and bottom adjustment jacks of the bracket to be adjusted, T4, T5, T6 are the top beam side push jacks, shield beam side push jacks and bottom adjustment jacks of the right adjacent bracket, and the frame adjustment jack combination coordination mode is as follows: S , refers to the adjustment jacks and their action sequence required for specific abnormal postures.

[0077] The analysis of the abnormal support posture mechanism mainly includes the analysis of abnormal support working conditions and collision behaviors between supports. Abnormal working conditions include biting, squeezing, and overturning. The conclusion is that the main reasons for the abnormal support posture are that the yaw angle of the support is too large, the relative roll angle with the neighbor is too large, and the distance between the supports does not meet the requirements. The working principle of the support adjustment device refers to the role of the adjustment jacks of the current support and the adjacent support on the right in adjusting the current support posture. The experience of adjusting the abnormal support posture comes from the combination and coordination method of each adjustment jack when adjusting the abnormal support posture in actual working conditions. The adjustment experience and rule base first classifies the possible abnormal postures of the support, and preliminarily obtains 14 abnormal working conditions. For each working condition, the combination method and coordination order of each adjustment jack when adjusting the support posture are designed.

[0078] In particular, the frame adjustment experience and rule base can be expanded and updated. When encountering abnormal working conditions that are not included in the knowledge base, the knowledge base will request manual intervention, perform manual frame adjustment in a virtual scene, and store the abnormal working conditions and manual frame adjustment methods in the knowledge base. External abnormal working conditions and frame adjustment experience can also be directly input into the knowledge base.

[0079] (3) The analyzer of the virtual planning system for adjusting the hydraulic support posture is established based on the equipment coordinate system and coordinate transformation method, combined with the kinematic analysis of the hydraulic support and the analysis of the relative posture relationship of the adjacent frames. It inputs the quantitative description of the abnormal posture of the support and the combined coordination mode of each adjustment jack, and can analyze and output the elongation sequence ES of each adjustment jack required for adjusting the support posture, which is consistent with the order of the combined coordination mode S of each adjustment jack.

[0080] Among them, the coordinates of any key point of the hydraulic support in the local coordinate system can be obtained based on the kinematic analysis of the hydraulic support. This method is an existing technology, and the general solution steps are as follows: First, determine the y-axis of the local coordinate system of the support component according to the direction of the pin connection line, and take the pin connection as the origin of the local coordinate system of the component; Based on the kinematic analysis of the planar mechanism of the central symmetry plane of the hydraulic support, obtain the coordinates of each key pin connection point of the hydraulic support relative to the local coordinate system of the support. YOZ Coordinates in the plane ; Finally, obtain the coordinates of the key points in the hydraulic support relative to the origin of the component coordinate system , through the coordinate conversion between the component local coordinate system and the support local coordinate system, the three-dimensional coordinates of the point in the support local coordinate system can be obtained Z , the solving formula is as follows, wherein is the included angle between the y-axis of the component local coordinate system and the support local coordinate system.

[0081]

[0082] The coordinate conversion method between the equipments is used to convert the key point coordinates of the adjacent supports to the same coordinate system, the key points of the left and right adjacent supports are converted to the local coordinate system of the middle support for calculation, and the specific coordinate conversion method is a general mathematical method. Finally, in the same coordinate system, the relative pose relationship of the adjacent supports is analyzed by relying on the spatial coordinates of the key points of the poses of the supports, and then the extension sequence ES of the jacking jack is solved.

[0083] The extension sequence ES of each jacking jack is analyzed according to the action sequence of each jacking jack during jacking, and the extension amount of each jacking jack at each step is derived in sequence.

[0084] (4) The planner of the hydraulic support pose adjustment virtual planning system generates a support pose adjustment path planning scheme P according to the input extension sequence ES of the jacking jack, and performs a virtual jacking test on the planning scheme in the virtual scene. If the test result is satisfactory, the jacking planning scheme is output, and if the test result is not satisfactory, the deviation e is calculated by comparing with the ideal pose, then the virtual jacking scheme is modified, forming a closed loop feedback, until the virtual jacking result is satisfactory.

[0085] The support pose adjustment path planning scheme P is analyzed to generate a set of instructions for controlling the jacking jacks of the support.

[0086] The virtual jacking is based on the support pose reconstructed based on the working condition data in the virtual scene, and the jacking path planning scheme is tested in the virtual model.

[0087] The virtual test result evaluation is based on the ideal pose range established based on the ideal pose in the analyzer, and whether the virtual jacking result meets the requirements is judged according to whether the virtual jacking result is within the range.

[0088] The calculation of the deviation e and the modification of the jacking path planning scheme ES is that when the virtual experimental result evaluation is not satisfactory, the deviation between the current pose and the ideal pose is calculated, and then the deviation calculation result is used for the modification of the jacking path planning scheme.

Claims

1. A hydraulic support pose adjustment virtual planning system, characterized in that, Comprise: analyzer for loading the working condition data W The analyzer quantitatively describes the abnormal pose information of the support included in the working condition data, and outputs the abnormal pose quantization data Q ​ The analyzer is based on input operating condition data W In the virtual scene, the equipment pose is virtually reconstructed, and more detailed equipment pose data is obtained from the reconstructed pose, which is divided into current support pose data and adjacent equipment pose data; Based on the current support pose data and adjacent equipment pose data, the support pose anomaly detection is carried out, if the detection result is abnormal, the abnormal reason of the support is analyzed, and the ideal pose prediction mechanism is triggered, and the ideal pose of the current support is predicted based on the adjacent equipment pose data; According to the current support pose data of the support to be adjusted, the ideal pose, and the support pose anomaly analysis result, a quantitative description of the support abnormal pose is generated by calculating the difference between the current pose and the ideal pose Q ; The working condition data W The pose information of the support to be adjusted, its adjacent supports, and the middle trough connected with the above supports is included, the attitude angle data of the middle trough and the support base can be obtained by using an inertial navigation unit, the inclination angle data of each support component of the support can be obtained by using an inclination sensor, the distance between the support base and the middle trough and the inter-stand distance data of the hydraulic support can be obtained by using a laser ranging or a wire-type stroke sensor; the relative pose of the support and its corresponding middle trough is obtained by monitoring the attitude of the floating connection mechanism connecting the hydraulic support and the middle trough. A knowledge base receives the abnormal pose quantization data derived by the analyzer Q , and outputs a corresponding coordinated combination mode of each adjusting jack of the support S , and outputs the result Parser, receiving abnormal pose quantization data Q And the support of each adjustment frame jack combined mode S Carrying out analysis calculation, obtaining the elongation sequence corresponding to each adjustment frame jack ES And the calculation result is packed and output The planner receives the extension sequence corresponding to each adjusting jack ES, The support pose adjustment path is virtually planned, and finally the optimal adjusting path is derived.

2. The hydraulic support position adjustment virtual planning system according to claim 1, characterized in that, The specific process of the virtual reconstruction of the equipment pose is: Based on the attitude angle data of the middle trough and the connection constraint between the middle troughs, the relative poses of the adjacent middle troughs are determined; Based on the attitude angle data of the hydraulic support and the component inclination angle data, the support attitude of the hydraulic support in space is determined; The vertical position of the hydraulic support is determined according to the position of the middle trough, and the relative poses of the adjacent hydraulic supports and the middle trough are determined by combining the distance between the support base and the middle trough of the scraper, the interframe distance data of the hydraulic support, and the attitude data of the floating connection mechanism of the hydraulic support and the middle trough.

3. The hydraulic support position adjustment virtual planning system according to claim 1 or 2, characterized in that, The specific steps of the support pose anomaly detection are: Select the support transverse offset, perpendicularity error and relative roll angle as the support pose evaluation indexes, the transverse offset refers to the deviation of the support center plane relative to the middle trough center plane along the working face arrangement direction, the perpendicularity error value refers to the perpendicularity error of the hydraulic support base displacement mechanism and the middle trough, and the relative roll angle refers to the relative roll angle of the adjacent hydraulic supports; The three index evaluation levels are reasonable, large and too large; Factor domain of evaluation object ; comment grade domain The corresponding fuzzy comprehensive evaluation system is as shown in the following table: Thus a fuzzy relation R from U to V is determined, and the membership function of the fuzzy relation is a 3*3 order fuzzy relation evaluation matrix: According to practical experience and the pose requirements of the support, first determine the value range and the comment level of the corresponding interval, according to the influence degree of the three evaluation indexes on the evaluation object, determine the evaluation factor weight vector , select the synthesis operator of evaluation as , wherein represents real number multiplication, ; Utilizing the evaluation factor vector A and the fuzzy relation matrix R to generate a fuzzy comprehensive evaluation vector of the support posture , is a fuzzy comprehensive index of the three identification types; B is a fuzzy mathematical function with the support posture parameter vector as the independent variable, is a fuzzy identification function of the hydraulic support posture.

4. The hydraulic support position adjustment virtual planning system according to claim 3, characterized in that, The ideal pose is: According to the support straightness and center distance requirements, the y coordinate of the upper support is taken as and the x coordinate of the middle trough connected thereto is taken as the x, y coordinates of the ideal pose; The lower bottom plate of the adjacent hydraulic support should be uniformly transitioned, and the average value of the z coordinates of the upper support and the lower support is taken as the z coordinate of the ideal pose; Hydraulic support yaw angle The ideal value of pitch angle and roll angle is zero, which is greatly affected by the terrain. Considering that the support spacing should be uniform and the support space of adjacent supports should be uniformly transitioned, the ideal value is the average of the pitch angle and roll angle of the upper and lower supports. Comprehensively consider the influence of the forward and reverse coal cutting direction of the coal mining machine on the relative relationship of the support, define the adjacent support of the current support along the coal cutting direction as the lower support, and the adjacent support in the opposite direction as the upper support, and consider that the upper and lower supports are stable in the coal seam roof and floor, and the support pose is normal.

5. The hydraulic support position adjustment virtual planning system according to claim 4, characterized in that, The support pose anomaly analysis is when the support pose anomaly detection result is abnormal, analyzing and explaining the fuzzy comprehensive evaluation vector B to obtain the main reason for the support pose anomaly; the support pose anomaly quantitative description Q is based on the result of the support anomaly analysis, and the difference between the current support pose data C and the ideal pose data I is obtained to obtain the quantitative description of the support abnormal pose Q , specifically including the specific values of the three-direction displacement and three-direction rotation of the current support pose relative to the ideal pose.

6. The hydraulic support position adjustment virtual planning system according to claim 1, wherein, The knowledge base is based on support abnormal posture mechanism analysis, support adjusting device working principle and support abnormal posture adjustment experience, and finally generates an adjusting experience and rule base. The support abnormal posture is input into the knowledge base, matched in the adjusting experience and rule base, and the corresponding adjusting jack combination coordination mode of the abnormal posture is derived S ; The support pose abnormal mechanism analysis includes analyzing the abnormal working conditions of the support and the collision behavior between the supports, the abnormal working conditions include biting the support, extruding the support and overturning the support, and the conclusion is that the main reasons for the abnormal support pose are that the yaw angle of the support is too large, the relative roll angle of the adjacent support is too large, and the interframe distance does not meet the requirements; The working principle of the support adjusting device refers to the action of the adjusting jack of the current support and the adjacent support on the right side when adjusting the pose of the current support; The support abnormal pose adjustment experience comes from the combination and cooperation method of each adjusting jack in adjusting the abnormal support pose in the actual working condition; The adjusting experience and rule base first classify the possible abnormal poses of the support, preliminarily obtain the abnormal working conditions, and design the combination mode and cooperation sequence of each adjusting jack when adjusting the support pose for each working condition.

7. The hydraulic support position adjustment virtual planning system according to claim 1, wherein, The parser inputs the quantitative description of the abnormal position of the support and the combined cooperative mode of each adjusting jack, parses and outputs the elongation sequence ES of each adjusting jack required for adjusting the position of the support, and is consistent with the sequence of the combined cooperative mode S of each adjusting jack; The specific process is, The key point coordinates of the position of the support in the local coordinate system of the support are obtained through the kinematic analysis of the hydraulic support; The key point coordinates of the adjacent supports are converted to the same coordinate system through the inter-equipment coordinate conversion method; Finally, in the same coordinate system, the relative position relationship of the adjacent supports is parsed according to the spatial coordinates of the key points of the position of each support, and then the elongation sequence ES of the adjusting jack is solved. The elongation sequence ES of each adjusting jack is parsed according to the action sequence of each adjusting jack during the adjustment of the support, and the elongation of each adjusting jack at each step is sequentially parsed and sequentially derived.

8. The hydraulic support position adjustment virtual planning system according to claim 1, characterized in that, The planner generates an adjustment path planning scheme for the support pose according to an input jacking jack elongation sequence ES Generate support pose adjustment path planning scheme P And in the virtual scene, the planning scheme P Virtual jacking test, the support pose adjustment path planning scheme P Refers to the specific operation instruction planning of the jacking jack during the jacking process, the jacking jack elongation sequence ES The initial value of P If the test result is satisfactory, output the jacking planning scheme, if not, compare with the ideal pose to calculate the deviation e, then modify the virtual jacking scheme, form a closed loop feedback, until the virtual jacking result is satisfactory; After the jacking test, whether the hydraulic support meets the verticality requirement, the pose requirement of yaw angle and roll angle is judged, whether the support pose meets the requirement, the requirement is artificially defined according to different working conditions, the deviation e is the difference between the current pose of the support and the ideal pose after the jacking test.

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