Virtual measurement method of hydraulic support straightness based on multi-module spatiotemporal collaborative deduction

Abstract

The present invention discloses a virtual measurement method for the straightness of a hydraulic support based on multi-module spatiotemporal collaborative deduction, comprising: an initial module, a parameter simplification module, an abnormal posture detection module, a virtual-reality sensing module, and a correction and iteration module. The initial module establishes a Unity 3D virtual scene based on known information, preliminarily deduces the posture of the hydraulic support base, and provides a basis for the deduction of the parameter simplification module; the parameter simplification module simplifies the parameters of the floating connection mechanism and optimizes the posture of the hydraulic support base based on the initial module; the posture of the hydraulic support base obtained by the parameter simplification module is detected in the abnormal posture detection module and optimized in the correction and iteration module; finally, the posture of the hydraulic support base is measured using the virtual-reality sensing module, and a fit test is performed with the previously optimized posture in the correction and iteration system to ultimately determine the posture of the hydraulic support base.

Description

Technical Field

[0001] The present invention relates to the field of straightness measurement of hydraulic support groups, and in particular to a virtual measurement method for straightness of hydraulic supports based on multi-module spatiotemporal collaborative deduction. Background Art

[0002] During the actual production process, under the influence of the undulating bottom plate, the amount of movement continues to accumulate during the advancement of the fully-mechanized mining working face, resulting in the straightness of the scraper conveyor and the hydraulic support group often being difficult to ensure, affecting the automatic and continuous advancement of the working face; at the same time, the error of the movement continues to accumulate in the cutting cycle of the working face, resulting in the straightness of the scraper conveyor and the hydraulic support failing to meet the requirements after several cycles, requiring manual intervention to meet the straightness requirements of the fully-mechanized mining working face.

[0003] The problem of straightness seriously restricts the level of fully mechanized mining automation, so a new method is urgently needed to measure the straightness of the hydraulic support group. The straightness measurement of the hydraulic support group is actually the measurement of the hydraulic support base posture.

[0004] The invention patent with application number CN202211570324.X discloses a virtual reconstruction method of the relative posture of a hydraulic support driven by a hybrid of knowledge and data: a digital twin model system of the hydraulic support physical prototype is constructed, and the arrangement of sensors in the physical monitoring system is guided by the sensor position planning system; the data of the sensors in the physical monitoring system are collected by the data acquisition module and transmitted to the mechanism model and data processing, and the data is corrected by the parameter preprocessing module and transmitted as a known quantity to the relative position solution module for solution, and the solution results are mapped in real time in the posture deduction system through dynamic linking; the posture correction module iterates the results of the posture deduction system to construct a reconstruction method driven by a hybrid of knowledge and data; finally, the posture information of the hydraulic support is displayed in the human-computer interaction system.

[0005] In the article "Working Surface Straightness Measurement, Control and Positioning Technology Based on Inertial Navigation", in order to solve the problem that the fully mechanized mining working face gradually becomes non-straight after several cuts in the automated production mode, a method is proposed to quantitatively describe the working surface straightness by measuring the straightness of the scraper conveyor using inertial navigation technology.

[0006] The invention patent with application number CN202010102877.7 discloses a method for obtaining the position of a group hydraulic support based on an expert system: by establishing an expert system based on the motion parameters of the floating connection mechanism between the hydraulic support and the scraper conveyor, the relative position of the hydraulic support and the scraper conveyor, and the position of the hydraulic support on the coal seam when the hydraulic support pushes the scraper conveyor on the coal seam; obtaining the extension length of the pushing cylinder and the inclination angle of the hydraulic support base on the coal seam in the coal mine, entering the knowledge base for query and analysis, and then obtaining the corresponding hydraulic support position of the hydraulic support in the virtual environment through inference engine reasoning; after data processing of the hydraulic support position obtained after reasoning, making it correspond to the actual position in the coal mine, and finally outputting the obtained hydraulic support position to the user interface.

[0007] The invention patent with application number CN202111452578.7 discloses a real-time and accurate virtual deduction method for the position and posture of the floating connection mechanism of comprehensive mining and support equipment: based on conformal geometry, the spatial combined motion of the floating connection mechanism is converted into the transformation relationship between points, lines and surfaces to obtain the motion law of the floating connection mechanism; by changing the rotation of each middle trough of the scraper conveyor, the direction vector is changed, and then the motion values ​​of each structure of the floating connection mechanism are updated, and finally the adaptive propulsion of the hydraulic support group and the scraper conveyor is realized; the scraper conveyor is discretely decomposed into several middle troughs, and driven based on the rotation of each middle trough, and the scraper conveyor posture reconstruction based on coordinate information is established.

[0008] The above-mentioned method has the following defects:

[0009] (1) When measuring the position of hydraulic supports, a large number of sensors need to be installed on the base. However, the underground mining conditions are complex, which makes it difficult to obtain some position information and the measurement accuracy of the sensors does not meet the requirements. At the same time, there are a large number of hydraulic supports underground, and installing a large number of sensors is difficult to achieve and expensive.

[0010] (2) Due to the large number of degrees of freedom on the floating connection mechanism components between the scraper conveyor and the hydraulic support base, and the continuous accumulation of movement during the advancement process, it is difficult to deduce the hydraulic support base posture from the scraper conveyor posture inverted from the coal mining machine inertial navigation system. The straightness accuracy of the hydraulic support group is too low, making it impossible to guarantee the straightness of the fully mechanized mining working face.

[0011] (3) When using an inclination sensor to measure the inclination of the hydraulic support base, only the pitch angle and yaw angle of the base can be accurately measured, but the yaw angle cannot be accurately measured. The position of the hydraulic support base cannot be accurately measured, and the straightness of the comprehensive mining working surface cannot be accurately guaranteed.

[0012] (4) In complex underground mining, due to the fluctuation of the coal seam bottom plate, the sliding position between the connecting head of the floating connection mechanism and the push-pull hole in the middle trough of the scraper conveyor cannot be determined. It can only be roughly assumed that it is at the top when pushing and at the bottom when moving the frame. The movement law of the floating connection mechanism obtained in this way is not accurate enough. Summary of the Invention

[0013] The technical problem to be solved by the present invention is to provide a virtual measurement method for the straightness of hydraulic supports based on multi-module spatiotemporal collaborative deduction, so as to obtain the position and posture of the base of each hydraulic support, thereby measuring the straightness of the hydraulic support group and providing a reference for the operation adjustment of the actual underground hydraulic support group.

[0014] To solve the above technical problems, the present invention adopts a technical solution: a virtual measurement method for the straightness of a hydraulic support based on multi-module spatiotemporal collaborative deduction, comprising the following steps:

[0015] Step 1: Initial module construction and deduction;

[0016] In the initial module, a Unity3D virtual scene was established, and the rough position information of the hydraulic support base was preliminarily deduced using the displacement stroke, rough coal seam floor information, and scraper conveyor middle trough information obtained from the shearer inversion.

[0017] Step 2: Parameter simplification module construction and deduction;

[0018] The parameter simplification module is used to simplify the parameters of the floating connection mechanism and combine the rough pose information of the hydraulic support base synchronized to the parameter simplification module with the simplified information of the floating connection mechanism to obtain the semi-precise pose information of the hydraulic support base;

[0019] Step 3: Construction and deduction of abnormal posture detection module;

[0020] After the semi-precise posture information of the hydraulic support base is synchronized to the abnormal posture detection module, the abnormal conditions of the hydraulic support base, the hydraulic support group as a whole, and the fully mechanized mining working face are detected in the abnormal posture detection module. When an abnormal situation occurs, the correction iterative system is entered for correction until no abnormal situation appears in the abnormal posture detection module. At this time, the output is the precise posture information of the hydraulic support base;

[0021] Step 4: Construction and deduction of virtual and real sensing modules;

[0022] Build physical sensors and virtual sensors to measure the posture of the hydraulic support base, process the data obtained from the physical scene and the Unity3D virtual scene, and obtain the sensor posture information on the hydraulic support base;

[0023] Step 5: Modify the iterative module construction and deduction;

[0024] Based on the parameter simplification module, the correction iteration module sets the search step in the unity3D virtual scene, and changes the position of the floating connection mechanism connector in the middle slot connection hole through program iteration to meet the requirements until there is no abnormality in the abnormal posture sensing module. Then, the output precise posture information is fitted with the sensor posture information. The precise posture information when the fitting degree meets the requirements is the posture information of the hydraulic support base at time i.

[0025] Furthermore, the initial module includes an initial scenario system, a variable definition system and a preliminary deduction system;

[0026] Among them, the initial scene system is used to establish the Unity3D virtual scene and coordinate system scene; the variable definition system is used to define variables; the preliminary deduction system is used to obtain the real-time operation information of the coal mining machine and perform the inversion of the scraper conveyor trajectory in the absolute reference coordinate system established at the junction of the roadway and the working face, thereby obtaining the position information of the middle trough of the scraper conveyor. Then, the rough hydraulic support base position before, after and after the push-slide is used to obtain the push-slide and rough bottom plate information.

[0027] The preliminary deduction system is to install an inertial navigation system on the coal mining machine body to obtain the real-time operation trajectory of the coal mining machine, and deduce the operation trajectory of the front and rear support shoes in combination with the structural parameters of the coal mining machine itself, and then obtain the position information of the middle trough of each section of the scraper conveyor. The deduction system then uses the pushing stroke d1 and the rough coal seam bottom plate information to obtain the rough position information of the hydraulic support base before pushing the slide, before pushing the slide, and after moving the frame.

[0028] Furthermore, the parameter simplification module includes a parameter simplification system and a motion timing system; wherein, the parameter simplification system analyzes the motion law of the floating connection mechanism manipulator model, and then simplifies the angle parameters, and simplifies the five parameters (d1, θ2, θ3, θ4, s) in the floating connection mechanism manipulator model, including the push rod yaw amount θ2, the push rod pitch angle θ3, and the connecting head yaw angle θ4 to one parameter θ.

[0029] Furthermore, the motion sequence system utilizes the principle of no aftereffect of the Maldives chain and no sudden change when the fully mechanized mining equipment is working, simplifies the floating connection mechanism parameters at time i-1 and applies them to time i, combines the displacement stroke and analyzes the hydraulic support base from the middle slot of the scraper conveyor: the middle slot posture information is known. The floating connection mechanism information (d1, θ) and the position of the preset push point in the push-pull hole. At this time, all the parameters of the floating connection mechanism are known. Taking the push node on the middle groove of each section as the reference, the posture of each section of the hydraulic support base is inferred, thereby obtaining the semi-precise posture information of the hydraulic support base.

[0030] Furthermore, the abnormal posture detection module includes a data simulation system and a model detection system;

[0031] Among them, the data simulation system inputs the semi-precise posture data of the hydraulic support base obtained in the parameter simplification module into the initial scene system and performs simulation; the model detection system runs the simulation model built in the data simulation system and performs detection.

[0032] Furthermore, the virtual-reality sensing module includes a sensor construction system and a data processing system; wherein, the sensor construction system is a system for measuring the posture of the hydraulic support base by building physical and virtual sensors, including a physical sensing system and a virtual sensing system; the data processing system processes the data obtained from the physical scene and the unity3D virtual scene to obtain the sensor posture information on the hydraulic support base.

[0033] Furthermore, the physical sensor system is to carry an inclination sensor and an infrared ranging sensor on the hydraulic support base in a real underground environment; the virtual sensor system is to carry a virtual infrared ranging sensor on the hydraulic support base in a unity3D virtual scene.

[0034] Furthermore, the correction iteration module includes an information processing system and an iteration system; wherein the information processing system includes two parts of information processing: information processing in the abnormal posture detection module and the physical sensing module.

[0035] Furthermore, the information processing of the physical sensing module in the information processing system is to compare the precise posture information of the hydraulic support base with the physical sensing posture information, that is, to calculate the fit between the precise posture information and the sensing posture information, including the position fit and posture fit

[0036] Among them, the position fit P” is the sensor posture information in the hydraulic support base lk or g and accurate pose information P'' lk or g The degree of fit between:

[0037]

[0038] Posture fit R” is the sensor posture information in the hydraulic support base mk and accurate pose information R'' mk The degree of fit between:

[0039]

[0040] Furthermore, when the actual downhole conditions are complex or the accuracy of the physical sensor is not high, the fit interval A is set: (0.95-1.05); when the actual downhole conditions are relatively simple or the accuracy of the physical sensor is high, the fit interval B is set: (0.99-1.01); if and The value of each non-zero element in the matrix is ​​not in the fitting range and needs to be corrected by the iterative system until and The value of each non-zero element in the matrix is ​​within the fitting interval.

[0041] According to the technical solution provided by the present invention, the initial module establishes a Unity3D virtual scene based on known information, preliminarily deduces the hydraulic support base posture, and provides a basis for the deduction of the parameter simplification module; the parameter simplification module simplifies the parameters of the floating connection mechanism and optimizes the hydraulic support base posture based on the initial module; the hydraulic support base posture obtained by the parameter simplification module is detected in the abnormal posture detection module and optimized in the correction iteration module; finally, the hydraulic support base posture is measured using the virtual-real sensing module, and a fit test is performed with the previously optimized posture in the correction iteration system to finally obtain the hydraulic support base posture. Compared with the existing technology, the present invention has the following beneficial effects:

[0042] (1) Multiple parallel modules were built to transform and process the available posture information of each module. At the same time, different modules were synchronized through LPC (Local Procedure Call Protocol) technology and RPCLPC (Remote Procedure Call Protocol) technology, realizing a data transfer solution method from decentralized to centralized, breaking through the "information island", and providing a multi-module "parallel-joint" solution.

[0043] (2) For data that cannot be directly measured by sensors, a method is used to convert direct measurement into indirect measurement; physical sensors and virtual sensors are used to measure synchronously, and physical data and virtual data are synchronously integrated to achieve the purpose of indirectly obtaining data, providing a "direct to indirect" method for virtual sensors to measure the physical world for data that cannot be directly measured.

[0044] (3) By establishing multiple modules to complement each other's strengths and weaknesses, the demand for measurement of electronic components such as sensors is reduced, variable information is converted, and a large number of electronic components are saved. A multi-module method is provided for scenarios that require multi-sensor measurement, which greatly saves experimental costs.

[0045] (4) Unify the time dimension and space dimension, and solve the spatiotemporal data and real-time physical data on a unified time scale. This provides a method to unify the information on four-dimensional space and time into one-dimensional space for solving scenarios that require joint spatiotemporal solutions.

[0046] (5) Based on the principle of no aftereffect of the Maldives chain, the multi-degree-of-freedom parameters of the floating connection mechanism are simplified. Combined with the "history-present-future" operating status, the temporal problem is solved in the virtual space, and a virtual space solution method based on the Maldives process is provided.

[0047] (6) The optimization iteration method is integrated into the virtual space. For some variables that cannot be directly obtained, by setting reasonable constraints, step sizes and judgment conditions, the optimization can be continuously iterated in the virtual space at no cost, thereby obtaining the target information.

[0048] (7) A “rough-semi-precise-precise” posture partial solution method is provided, and reverse verification is performed by sensor information, thereby providing a self-organizing closed-loop feedback method for solving the posture of comprehensive mining equipment, which can be continuously optimized to meet the requirements.

[0049] (8) A new method for deducing from a scraper conveyor to a hydraulic support base was implemented, and at the same time, the full parameter solution of the floating connection mechanism was completed in real time, which created new ideas for the real-time detection and straightening of the straightness of the fully mechanized mining working face under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Figure 1 It is based on a multi-module space-time collaborative deduction flow chart;

[0051] Figure 2 This is the flow chart for solving the hydraulic support base posture;

[0052] Figure 3 is the parameter definition;

[0053] Figure 4 It is a schematic diagram of the coordinate system scene;

[0054] Figure 5 It is the parameter analysis diagram of the floating connection mechanism;

[0055] Figure 6 This is a diagram of the sensor mounted on the hydraulic support base;

[0056] Figure 7 It is a schematic diagram of the iterative system step size. DETAILED DESCRIPTION

[0057] References Figure 1The flowchart based on multi-module spatiotemporal collaborative deduction is shown, and the established multiple modules include: initial module, parameter simplification module, abnormal posture detection module, virtual-reality sensing module and correction iteration module.

[0058] The initial module obtains the rough pose information of the hydraulic support base; the rough pose information is synchronized to the parameter simplification module through the linear predictive coding LPC (Local Procedure Call Protocol) technology, and the parameters of the floating connection mechanism are simplified to facilitate reasoning to obtain the semi-precise pose information of the hydraulic support base; the semi-precise pose information is synchronized to the abnormal pose detection module through the linear predictive coding LPC (Local Procedure Call Protocol) technology, and after the abnormal pose detection, the precise pose information of the hydraulic support base is obtained through the linear predictive coding LPC (Local Procedure Call Protocol) technology combined with the correction iterative module; the virtual-reality sensing module obtains the sensor pose information of the real underground hydraulic support base through the remote procedure call RPC (Remote Procedure Call Protocol) technology, and obtains the final pose information of the hydraulic support base through the linear predictive coding LPC (Local Procedure Call Protocol) technology combined with the correction iterative module, such as Figure 2 shown.

[0059] Step 1: Build the initial module for deduction

[0060] The initial module is a module that establishes a unity3D virtual scene through real underground information, and then uses the displacement stroke, rough coal seam bottom plate information and the scraper conveyor middle groove information obtained by inversion from the coal mining machine to deduce the rough position information of the hydraulic support base; it includes an initial scene system, a variable definition system, and a preliminary deduction system. The initial scene system and variable definition system must be established before the deduction of the preliminary deduction system can be carried out.

[0061] The initial scene system is a system for establishing unity3D virtual scenes and coordinate system scenes. The aforementioned virtual scene is a system for establishing a scaled-down virtual model of the actual fully mechanized mining equipment underground, which is then imported into Unity3D software. Character Joint components are added between the middle slots for connection, and the rotation of the middle slots is controlled by transfor.Rotate. Gravity constraints and restrictions on movement and rotation along the x, y, and z axes are added to the overall model. Scripts are then added to the model to achieve a motion simulation scene. The aforementioned coordinate system scene is established on the fully mechanized mining equipment. m (x m ,y m ,z m)},{O l (x l ,y l ,z l )},{O k (x k ,y k ,z k}}The scene of the coordinate system, {O m} is the absolute reference coordinate system established at the junction of the tunnel and the working face, {O l} is the overall deduction coordinate system established on the middle trough of each section of the scraper conveyor, {O k} is the local reference coordinate system established on the base of each hydraulic support.

[0062] The variable definition system is a system that defines the variables that appear in this application, specifically Figure 3 As shown:

[0063] The preliminary deduction system is to install an inertial navigation system on the coal mining machine body to obtain the real-time operation trajectory of the coal mining machine, and deduce the operation trajectory of the front and rear support shoes in combination with the structural parameters of the coal mining machine itself. The scraper conveyor trajectory is inverted in the absolute reference coordinate system to obtain the position information of the middle trough of the scraper conveyor. Then, the pushing stroke d1 and the rough coal seam bottom plate information (the coal seam bottom plate obtained after the first few cuts) are used to obtain the rough position information of the hydraulic support base before pushing the slide, before pushing the slide, and after moving the frame.

[0064] In the overall deduction reference system, the coordinates of the moving node when pushing the sliding frame are Combined with the push stroke:

[0065]

[0066] (in is the coordinate of the hydraulic support base without combining the rough coal seam floor information), then input the current position of the hydraulic support base and the scraper conveyor middle trough into the unity3D virtual scene, and use gravity constraint to fall on the rough coal seam floor. At this time, the posture information of the hydraulic support base is the rough posture information of the hydraulic support.

[0067] Before pushing the slide, the coal mining machine is used to invert the accurate position of the scraper conveyor, the pushing stroke information measured by the sensor, and the rough coal seam bottom plate information to deduce the rough position information 1 of the hydraulic support base; before the above-mentioned pushing and sliding and moving the frame, the rough coal seam bottom plate information and the accurate position information of the scraper conveyor are used to predict the position information of the scraper conveyor after pushing the slide, and then the rough position information 2 of the hydraulic support base is deduced based on the pushing stroke; after the above-mentioned moving the frame, the scraper conveyor position, pushing stroke and rough coal seam bottom plate information are fused to deduce the rough position information 3 of the hydraulic support base.

[0068] The position information of the middle trough of the scraper conveyor is the coordinate position of the origin of the overall deduction coordinate system in the absolute reference coordinate system. Pitch angle of each middle slot Yaw angle Roll angle And the space matrix of the overall deduction coordinate system in the absolute reference coordinate system Among them, R ml P is the rotation transformation matrix (dimension is 3X3) for transforming the overall deduction coordinate system to the absolute reference coordinate system; mlorg To deduce the coordinate matrix (dimension is 3x1) of the coordinate origin of the coordinate system in the absolute reference coordinate system. This paper adopts the method of adding one dimension to the matrix and vector respectively for calculation, setting the rows and columns of the matrix through Matrix4x4.SetRow and Matrix4x4.SetColumn, and using Matrix4x4.operator to perform matrix operations.

[0069]

[0070] in,

[0071]

[0072]

[0073] The rough pose information of the hydraulic support base is the rough coordinate position of the origin of the local reference coordinate system in the overall deduction coordinate system. Pitch angle of each hydraulic support base Yaw angle Roll angle And the spatial matrix of the local reference coordinate system in the overall deduction coordinate system

[0074] Among them, R lk is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; lk or g is the coordinate matrix of the origin of the local reference coordinate system in the global deduction coordinate system (dimension is 3X1). Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0075]

[0076] in,

[0077]

[0078]

[0079] In order to connect the information between multiple modules in series, it is necessary to obtain the spatial matrix of the local coordinate system of the hydraulic support base in the absolute reference coordinate system. Among them, R mk is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the absolute reference coordinate system; mk org This is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the absolute reference coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0080]

[0081] in,

[0082] R mk =R ml ×R lk

[0083] P mk or g =P ml or g +P lk or q

[0084] Step 2: Build a parameter simplification module for deduction

[0085] The parameter simplification module simplifies the parameters of the floating connection mechanism and, based on the rough pose information, combines the floating connection mechanism parameters to obtain semi-precise pose information for the hydraulic support base. This module includes a parameter simplification system and a motion timing system. The parameter simplification system provides a simplified model for the motion timing system. The initial module does not consider the relationship between the motion parameters of the floating connection mechanism. Therefore, once the rough pose information of each hydraulic support base is obtained, a simplified manipulator model of the floating connection mechanism is established and the motion patterns are analyzed to correct the base's pose.

[0086] The parameter simplification system analyzes the motion laws of the floating connection mechanism manipulator model and then simplifies the angle parameters. Since the components on the floating connection mechanism have many degrees of freedom, the parameters are simplified for subsequent deduction.

[0087] Angle parameter simplification is a method to simplify the five parameters (d1, θ2, θ3, θ4, s) of the floating connection mechanism manipulator model, namely, the push rod yaw amount θ2, the push rod pitch angle θ3, and the joint yaw angle θ4: the known position of the floating connection mechanism at time i-1 is analyzed by parameters as follows: Figure 4 As shown, the relationship between θ2, θ3, and θ4 is determined, and the three parameters θ2, θ3, and θ4 are simplified to one parameter θ:

[0088] (a and b are determined by the position of the floating connection mechanism at time i-1)

[0089] The motion sequence system uses the non-aftereffect of the Maldives chain and the principle that fully mechanized mining equipment will not change suddenly when working. It simplifies the floating connection mechanism parameters at time i-1 and applies them to time i. It combines the displacement stroke and analyzes the hydraulic support base from the middle slot of the scraper conveyor: the middle slot posture information is known. The floating connection mechanism information (d1, θ) and the position of the preset push point in the push-pull hole. At this time, all the parameters of the floating connection mechanism are known. Taking the push node on the middle groove of each section as the reference, the posture of each section of the hydraulic support base is inferred, thereby obtaining the semi-precise posture information of the hydraulic support base.

[0090] The aforementioned non-aftereffect property of the Maldives chain means that in a random process, the state of the system in the future (t=i+1) is only related to the state at the present (t=i), but has nothing to do with its state in the past (t≤i-1); when applied to the parameter simplification module, it means that the state at time i is only related to the state at time i-1.

[0091] The semi-precise position information of the hydraulic support base is the semi-precise coordinate position of the origin of the local reference coordinate system in the overall deduction coordinate system. Pitch angle of each hydraulic support base Yaw angle Roll angle And the spatial matrix of the local reference coordinate system in the overall deduction coordinate system Among them, R' lk is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; R' lk org This is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the global deduction coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0092]

[0093] in,

[0094]

[0095]

[0096] In order to connect the information between multiple modules in series, it is necessary to obtain the spatial matrix of the local coordinate system of the hydraulic support base in the absolute reference coordinate system. Among them, R' ml is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; R' mk P' is the rotation transformation matrix (dimension is 3X3) for transforming the overall deduction coordinate system to the absolute reference coordinate system; ml org is the coordinate matrix of the origin of the local reference coordinate system in the overall deduction coordinate system (dimension is 3X1); P' ml org This is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the absolute reference coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0097]

[0098] in,

[0099] R' mk =R' ml ×R' lk

[0100] P' mk org =P' ml org +P' lk org

[0101] Step 3: Build an abnormal posture detection module for deduction

[0102] The abnormal posture detection module inputs the obtained semi-precision posture information of the scraper conveyor and hydraulic support base into the data simulation system for deduction, and detects the abnormal situation of the system through the model; it includes a data simulation system and a model detection system.

[0103] The data simulation system is a system that inputs the hydraulic support base posture data obtained by the parameter simplification module into the initial scene system and performs simulation. The spatial matrix of the local reference coordinate system in the absolute reference coordinate system obtained in the parameter simplification module is input into the abnormal posture detection module using linear predictive coding LPC (Local Procedure Call Protocol) technology. The absolute x, y, z coordinates, roll angle, pitch angle and yaw angle of each hydraulic support base in the unity3D virtual scene are adjusted, and the posture of each component of the floating connection mechanism is adjusted to ensure consistency with the comprehensive mining equipment posture in the parameter simplification module. Delete the gravity constraint in the components in the unity3D virtual scene, do not rely on the base plate information for deduction, and start running.

[0104] The model detection system is a system for testing simulation models built in the operation data simulation system. It mainly performs inspections between hydraulic support bases, the entire hydraulic support group, and the operation of the fully mechanized mining face. Inspections between hydraulic support bases require observations: whether the spacing between hydraulic support bases is reasonable and whether collisions occur during operation; inspections of the entire hydraulic support group require observations: whether the spacing between hydraulic support groups is appropriate during operation and whether any abnormalities such as squeeze or bite occur; inspections of the fully mechanized mining face require observations: whether the push rods of the floating connection mechanism collide with the sides of the base body, whether the floating connection mechanism moves irrationally, and whether the movement between the middle troughs of the scraper conveyor is irrational.

[0105] Step 4: Build a virtual-real sensing module for simulation

[0106] The virtual-reality sensing module is a module that uses the fusion of physical sensors and virtual sensors to obtain the sensor posture information of the hydraulic support base, including a sensor construction system and a data processing system.

[0107] The sensor system measures the hydraulic support base's posture by building physical and virtual sensors. This involves building both a physical sensor system and a virtual sensor system. The physical sensor system involves installing tilt sensors and infrared ranging sensors on the hydraulic support base in a real underground environment. The virtual sensor system involves installing virtual infrared ranging sensors on the hydraulic support base in a Unity3D virtual scene.

[0108] In the physical sensing system, the pitch angle of the hydraulic support base can be measured by building an inclination sensor on the cover of the hydraulic support base. and roll angle Install infrared distance measuring sensors on the left and right end faces of the front end of the hydraulic support base. Figure 5 As shown in the figure, the distances L1 and L2 from the left and right end faces of the front end of the hydraulic support base to the middle groove of the scraper conveyor can be measured respectively; in the unity3D virtual scene, virtual infrared ranging sensors are built on the left and right end faces of the front end of the hydraulic support base model, and the distances L'1 and L'2 from the left and right end faces of the front end of the hydraulic support base to the middle groove of the scraper conveyor can be measured respectively.

[0109] The data processing system processes the data obtained from the physical scene and the Unity3D virtual scene to obtain the sensor posture information on the hydraulic support base. Since the yaw angle of the hydraulic support base cannot be measured in the physical sensing system, it is necessary to use the virtual-real fusion method to measure the yaw angle: First, the pitch angle measured in the physical sensing system is converted to the pitch angle. and roll angle The data is transmitted to the upper camera position through the serial port, and the hydraulic support base model in the unity3D virtual scene is adjusted through the transform component to make the pitch angle and roll angle in the physical scene and the unity3D virtual scene consistent; then adjust the size of L'1 and L'2 until

[0110]

[0111] At this time, the position of the hydraulic support base in the unity3D virtual scene is consistent with the position of the hydraulic support base in the physical scene. The coordinate position and yaw angle of the hydraulic support base in the unity3D virtual scene are output, which is the coordinate position of the hydraulic support base in the physical scene. and yaw angle Get the sensor posture information of the hydraulic support base.

[0112] The sensor pose information of the hydraulic support base is the sensor coordinate position of the origin of the local reference coordinate system in the overall deduction coordinate system. Pitch angle of each hydraulic support base Yaw angle Roll angle And the spatial matrix of the local reference coordinate system in the overall deduction coordinate system Among them, R lk is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; P” lk org This is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the global deduction coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0113]

[0114] in,

[0115]

[0116]

[0117] In order to connect the information between multiple modules in series, it is necessary to obtain the spatial matrix of the local coordinate system of the hydraulic support base in the absolute reference coordinate system. Among them, R ml R” is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; mk The rotation transformation matrix (dimension is 3X3) for converting the overall deduction coordinate system to the absolute reference coordinate system; P” ml orgis the coordinate matrix of the origin of the local reference coordinate system in the overall deduction coordinate system (dimension is 3X1); P” mk org This is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the absolute reference coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0118]

[0119] in,

[0120] R” mk =R” ml ×R” lk

[0121] P” mk org =P” ml org +P” lk org .

[0122] Step 5: Build a correction and iteration module for deduction

[0123] The correction iteration module is a module that corrects the posture information obtained by the previous module through an iterative optimization method, including an information processing system and an iteration system.

[0124] The information processing system includes two parts: the abnormal posture detection module and the physical sensing module. The abnormal posture detection module detects abnormal conditions between hydraulic support bases, the entire hydraulic support group, and the fully mechanized mining face. When an abnormality occurs, the system enters an iterative system for correction until no abnormalities are detected in the abnormal posture detection module. At this point, the output is the precise posture information of the hydraulic support base.

[0125] The sensor pose information of the hydraulic support base is the sensor coordinate position of the origin of the local reference coordinate system in the overall deduction coordinate system. Pitch angle of each hydraulic support base Yaw angle Roll angle And the spatial matrix of the local reference coordinate system in the overall deduction coordinate system Among them, R'' lk is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; P'' lk orgThis is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the global deduction coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0126]

[0127] in,

[0128]

[0129]

[0130] In order to connect the information between multiple modules in series, it is necessary to obtain the spatial matrix of the local coordinate system of the hydraulic support base in the absolute reference coordinate system. Among them, R'' ml is the rotation transformation matrix (dimension is 3X3) from the local reference coordinate system to the global deduction coordinate system; R'' mk , is the rotation transformation matrix (dimension is 3X3) from the overall deduction coordinate system to the absolute reference coordinate system; P"' ml org is the coordinate matrix of the origin of the local reference coordinate system in the overall deduction coordinate system (dimension is 3X1); P'' mk org This is the coordinate matrix (dimension is 3x1) of the origin of the local reference coordinate system in the absolute reference coordinate system. Use Matrix4x4.SetRow and Matrix4x4.SetColumn to set the rows and columns of the matrix, and use Matrix4x4.operator to perform matrix operations:

[0131]

[0132] in,

[0133] R"' mk =R"' ml , ×R”' lk

[0134] P"' mk org =P"' ml org +P"' lk org

[0135] The information processing of the physical sensing module is to compare the precise posture information of the hydraulic support base with the physical sensing posture information, that is, to calculate the fit between the precise posture information and the sensing posture information, including the position fit and posture fit

[0136] Position fitting degree P" of sensor posture information in hydraulic support base lk org and accurate pose information P'' lk org The degree of fit between

[0137]

[0138] Attitude fitting degree R" of the sensor posture information in the hydraulic support base mk and accurate pose information R'' mk The degree of fit between

[0139]

[0140] When the actual downhole conditions are complex or the accuracy of the physical sensor is not high, the fit interval A is set: (0.95-1.05); when the actual downhole conditions are relatively simple or the accuracy of the physical sensor is high, the fit interval B is set: (0.99-1.01); if and The value of each non-zero element in the matrix is ​​not in the fitting range and needs to be corrected by the iterative system until and The value of each non-zero element in the matrix is ​​within the fitting interval.

[0141] The iterative system is mainly based on the parameter simplification module, setting a suitable step size in the Unity3D virtual scene, and changing the position of the floating connection mechanism connector in the middle slot connection hole through the program to meet the requirements, thereby establishing an optimization system. When entering the iterative system, set the search step size λ in the iterative system,

[0142]

[0143] Among them, L3 is the length of the push-pull hole in the middle trough of the scraper conveyor;

[0144] In the parameter simplification module, the center position of the push-pull hole is used as the preset push point, and it is iterated upward and downward s+=λ (s is the distance between the push point and the center of the push-pull hole in the middle slot). Figure 6 As shown; a script is established in the unity3d virtual scene to run the program, and the output information is input into the correction iteration module through the linear predictive coding LPC (Local Procedure Call Protocol) technology at all times until the conditions are met in the information processing system. The precise posture information at this time is the posture information of the hydraulic support base at time i.

Claims

1. A virtual measurement method for hydraulic support straightness based on multi-module spatiotemporal collaborative deduction, characterized in that: The steps include: Step 1: Initial module construction and deduction; In the initial module, a Unity 3D virtual scene was established. The rough position information of the hydraulic support base was initially deduced using the displacement stroke, rough coal seam floor information, and scraper conveyor middle trough information obtained from the shearer inversion. Step 2: Parameter simplification module construction and deduction; The parameter simplification module is used to simplify the parameters of the floating connection mechanism and combine the rough pose information of the hydraulic support base synchronized to the parameter simplification module with the simplified information of the floating connection mechanism to obtain the semi-precise pose information of the hydraulic support base; Step 3: Construction and deduction of abnormal posture detection module; After the semi-precise posture information of the hydraulic support base is synchronized to the abnormal posture detection module, the abnormal conditions of the hydraulic support base, the hydraulic support group as a whole, and the fully mechanized mining working face are detected in the abnormal posture detection module. When an abnormal situation occurs, the correction iterative system is entered for correction until no abnormal situation appears in the abnormal posture detection module. At this time, the output is the precise posture information of the hydraulic support base; Step 4: Construction and deduction of virtual and real sensing modules; Build physical sensors and virtual sensors to measure the posture of the hydraulic support base, process the data obtained from the physical scene and the Unity 3D virtual scene, and obtain the sensor posture information on the hydraulic support base; Step 5: Modify the iterative module construction and deduction; Based on the parameter simplification module, the correction iteration module sets the search step in the unity3D virtual scene, and changes the position of the floating connection mechanism connector in the middle slot connection hole through program iteration to meet the requirements until there is no abnormality in the abnormal posture sensing module. Then, the output precise posture information is fitted with the sensor posture information. The precise posture information when the fitting degree meets the requirements is the posture information of the hydraulic support base at time i.

2. The method according to claim 1, wherein: The initial module includes an initial scenario system, a variable definition system and a preliminary deduction system; Among them, the initial scene system is used to establish the Unity 3D virtual scene and coordinate system scene; the variable definition system is used to define variables; the preliminary deduction system is used to obtain the real-time operation information of the coal mining machine and perform the inversion of the scraper conveyor trajectory in the absolute reference coordinate system established at the junction of the roadway and the working face, thereby obtaining the position information of the middle trough of the scraper conveyor. Then, the displacement stroke d1 and the rough bottom plate information are used to obtain the rough hydraulic support base position before, after and after the push-slide. The preliminary deduction system is to install an inertial navigation system on the coal mining machine body to obtain the real-time operation trajectory of the coal mining machine, and deduce the operation trajectory of the front and rear support shoes in combination with the structural parameters of the coal mining machine itself, and then obtain the position information of the middle trough of each section of the scraper conveyor. The deduction system then uses the pushing stroke d1 and the rough coal seam bottom plate information to obtain the rough position information of the hydraulic support base before pushing the slide, before pushing the slide, and after moving the frame.

3. The method according to claim 1 or 2, characterized in that: The parameter simplification module includes a parameter simplification system and a motion timing system; wherein, the parameter simplification system analyzes the motion law of the floating connection mechanism manipulator model, and then simplifies the angle parameters, and simplifies the five parameters (d1, θ2, θ3, θ4, s) in the floating connection mechanism manipulator model, namely the push rod yaw amount θ2, the push rod pitch angle θ3, and the connecting head yaw angle θ4 to one parameter θ.

4. The method according to claim 3, wherein: The motion sequence system is based on the principle that the Maldives chain has no aftereffect and that the fully mechanized mining equipment will not change suddenly when working. The floating connection mechanism parameter simplification system at time i-1 is applied to time i, and the hydraulic support base is analyzed from the middle slot of the scraper conveyor in combination with the displacement stroke: the middle slot posture information is known. The floating connection mechanism information (d1, θ) and the position of the preset push point in the push-pull hole. At this time, all the parameters of the floating connection mechanism are known. Taking the push node on the middle groove of each section as the reference, the posture of each section of the hydraulic support base is inferred, thereby obtaining the semi-precise posture information of the hydraulic support base.

5. The method according to claim 1 or 4, characterized in that: The abnormal posture detection module includes a data simulation system and a model detection system; Among them, the data simulation system inputs the semi-precise posture data of the hydraulic support base obtained in the parameter simplification module into the initial scene system and performs simulation; the model detection system runs the simulation model built in the data simulation system and performs detection.

6. The method according to claim 5, characterized in that: The virtual-reality sensing module includes a sensor construction system and a data processing system; wherein, the sensor construction system is a system for measuring the posture of the hydraulic support base by building physical and virtual sensors, including a physical sensing system and a virtual sensing system; the data processing system processes the data obtained from the physical scene and the Unity 3D virtual scene to obtain the sensor posture information on the hydraulic support base.

7. The method according to claim 6, characterized in that: The physical sensor system is to equip the hydraulic support base with an inclination sensor and an infrared ranging sensor in a real underground environment; the virtual sensor system is to equip the hydraulic support base with a virtual infrared ranging sensor in a unity3D virtual scene.

8. The method according to claim 1 or 7, characterized in that: The correction iteration module includes an information processing system and an iteration system; wherein the information processing system includes two parts of information processing: an abnormal posture detection module and information processing in a physical sensing module.

9. The method according to claim 8, characterized in that: The information processing of the physical sensing module in the information processing system is to compare the precise posture information of the hydraulic support base with the physical sensing posture information, that is, to calculate the fit between the precise posture information and the sensing posture information, including the position fit and posture fit Among them, the position fit P” is the sensor posture information in the hydraulic support base lk org and accurate pose information P'' lk org The degree of fit between: Posture fit R” is the sensor posture information in the hydraulic support base mk and accurate pose information R'' mk The degree of fit between:

10. The method according to claim 9, characterized in that: When the actual downhole conditions are complex or the accuracy of the physical sensor is not high, the fit interval A is set: (0.95-1.05); when the actual downhole conditions are relatively simple or the accuracy of the physical sensor is high, the fit interval B is set: (0.99-1.01); if and The value of each non-zero element in the matrix is ​​not in the fitting range and needs to be corrected by the iterative system until and The value of each non-zero element in the matrix is ​​within the fitting interval.

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