Hydraulic support supporting state control method, device, equipment and storage medium

Abstract

The application provides a hydraulic support supporting state control method, device, equipment and storage medium, the method realizes real-time monitoring of the supporting state of the hydraulic support and the overall hydraulic support supporting posture based on a three-axis multi-inclination sensor, determines whether the supporting movement state meets a target difference value by setting the target difference value, and determines the supporting movement state, and the method takes the real-time adhesion of the supporting and the coal wall as a starting point, and then realizes the overall hydraulic support supporting state. Through the application, the problem of real-time adhesion of the supporting and the coal wall can be solved, when the hydraulic support is not in place when the machine is pressed and the support is moved, the supporting posture extension and contraction state is monitored, feedback is given to the overall hydraulic support, and appropriate control adjustment is made to adapt to the situation that the supporting and the coal wall are not in place after adhesion, so that the supporting safety coefficient is controllable and high.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of hydraulic support monitoring, and particularly relates to a control method, device and equipment for a support state of a hydraulic support and a storage medium. BACKGROUND

[0002] In the production of a fully mechanized coal mining face with a large mining height, the role of a support device should be fully played, a machine is moved with pressure and a support is shifted, and a support plate is timely extended to reduce a suspended and loose range and time of a coal body at an upper part of the coal mining face. Meanwhile, the support is moved to a position as much as possible at one time to avoid multiple supports on a coal wall during the support shifting process and to aggravate the breaking of a roof. The support plate mainly provides a horizontal thrust for the coal body to effectively increase the bearing capacity of the coal wall. SUMMARY

[0003] The present application provides a control method, device and equipment for a support state of a hydraulic support and a storage medium, and aims to solve the problem of real-time adhesion of a support and a coal wall of the hydraulic support.

[0004] To this end, a first object of the present application is to provide a control method for a support state of a hydraulic support, comprising the following steps.

[0005] Collecting pose state information of the hydraulic support when the hydraulic support to be controlled is operated to a working state;

[0006] Constructing a hydraulic support model corresponding to the hydraulic support to be controlled, and inputting the collected pose state information of the hydraulic support into the hydraulic support model;

[0007] Judging whether the hydraulic support model operated according to the pose state data of the actual hydraulic support to be operated is in a stable state in a working environment model constructed according to a working environment of the hydraulic support to be controlled;

[0008] If the hydraulic support model is in a non-equilibrium state, the pose state information of the hydraulic support model is fine-tuned to make the hydraulic support model in an equilibrium state;

[0009] The pose of the hydraulic support to be controlled is adjusted according to the pose state information of the hydraulic support model in the equilibrium state after the fine-tuning, so that the hydraulic support to be controlled is in the equilibrium state.

[0010] In the step of collecting the pose state information of the hydraulic support when the hydraulic support to be controlled is operated to the working state, a plurality of three-axis inclination sensors are arranged on a support, a connecting rod and a base of the hydraulic support to be controlled respectively to measure and collect the inclination changes of the support, the connecting rod and the base of the hydraulic support to be controlled in real time, and the pose state information of the support, the connecting rod and the base of the hydraulic support to be controlled is obtained.

[0011] In the step of judging the pose state information of the support of the hydraulic support, the following steps are included.

[0012] Before the hydraulic support to be controlled starts to act, the attitude angle of the three-axis tilt angle sensor arranged on the shield is collected and set as the initial attitude angle;

[0013] During the action of the hydraulic support to be controlled, the attitude angle of the three-axis tilt angle sensor arranged on the shield is collected in real time, and the final attitude angle after stopping the action is determined;

[0014] Based on the initial attitude angle and the final attitude angle, the first extension and retraction state of the shield is determined;

[0015] Based on the initial attitude angle and the final attitude angle, according to the angle change, the second extension and retraction state of the shield is determined;

[0016] When the first extension and retraction state and the second extension and retraction state are consistent, the final pose state information of the shield is determined.

[0017] Among the steps of constructing a hydraulic support model corresponding to the hydraulic support to be controlled, and inputting the collected hydraulic support pose state information into the hydraulic support model, comprising:

[0018] A hydraulic support model corresponding to the hydraulic support to be controlled in the same proportion is constructed in the three-dimensional model software;

[0019] The final attitude angle of the three-axis tilt angle sensor arranged on the shield, connecting rod and base of the hydraulic support to be controlled is extracted from the pose state information;

[0020] According to the final attitude angle of the three-axis tilt angle sensor arranged on the shield, connecting rod and base, the pose state of the shield, connecting rod and base of the hydraulic support model is adjusted correspondingly.

[0021] Among the steps of judging whether the hydraulic support model running according to the actual hydraulic support pose state data to be run is in a stable state in the working environment model corresponding to the working environment of the hydraulic support to be controlled, comprising:

[0022] At the same time of constructing the hydraulic support model corresponding to the hydraulic support to be controlled in the same proportion, a working environment model corresponding to the actual working environment of the hydraulic support to be controlled in the same proportion is constructed;

[0023] After adjusting the hydraulic support model according to the pose state information of the hydraulic support to be controlled, the fit of the shield of the hydraulic support model and the working face coal wall of the working environment model, and the fit of the base of the hydraulic support model and the position of the roadway ground are observed in the three-dimensional model;

[0024] If the shield of the hydraulic support model is fitted with the working face coal wall of the working environment model, and the base of the hydraulic support model is fitted with the position of the roadway ground, the hydraulic support model is in a stable state in the working environment model.

[0025] If in a non-equilibrium state, the pose state information of the hydraulic support model is fine-tuned to make the hydraulic support model in an equilibrium state in the step of:

[0026] If the guard of the hydraulic support model does not fit the working face coal wall of the working environment model and / or the base of the hydraulic support model does not fit the roadway ground of the position, the pose of the guard of the hydraulic support model is adjusted to make the guard of the hydraulic support model fit the working face coal wall of the working environment model.

[0027] When the guard of the hydraulic support model fits the working face coal wall of the working environment model, the poses of the connecting rod and the base of the hydraulic support model are adjusted to make the guard of the hydraulic support model fit the working face coal wall of the working environment model.

[0028] The second object of the present application is to provide a control device for the support state of a hydraulic support, comprising:

[0029] The acquisition module is configured to acquire the pose state information of the hydraulic support when the hydraulic support to be controlled is running to a working state.

[0030] The model construction module is configured to construct a hydraulic support model corresponding to the hydraulic support to be controlled and input the acquired pose state information of the hydraulic support into the hydraulic support model.

[0031] The judgment module is configured to judge whether the hydraulic support model running according to the pose state data of the actual hydraulic support to be run is in a stable state in the working environment model constructed according to the working environment of the hydraulic support to be controlled.

[0032] The model adjustment module is configured to fine-tune the pose state information of the hydraulic support model to make the hydraulic support model in an equilibrium state when in a non-equilibrium state.

[0033] The hydraulic support adjustment module is configured to adjust the pose of the hydraulic support to be controlled according to the pose state information of the hydraulic support model in an equilibrium state after fine-tuning, so as to make the hydraulic support to be controlled in an equilibrium state.

[0034] The third object of the present application is to provide an electronic device, comprising at least one processor and a memory connected with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform each step in the method of the foregoing technical solution.

[0035] The fourth object of the present application is to provide a non-transient computer readable storage medium storing computer instructions, wherein the computer instructions are used to make a computer execute each step in the method according to the foregoing technical solution.

[0036] Differing from the prior art, the hydraulic support support state control method provided by the application realizes real-time monitoring of the hydraulic support support state and the overall hydraulic support support posture based on a three-axis multi-inclination sensor, determines whether the support movement state meets the target difference value by setting the target difference value, and determines the support movement state, which takes the real-time adhesion of the support and the coal wall as the starting point and then realizes the overall hydraulic support support state. Through the application, the problem of real-time adhesion of the hydraulic support and the coal wall can be solved. When the machine belt pressure shifting frame is not in place, the posture extension and retraction state of the support is monitored, feedback is given to the overall hydraulic support, and appropriate control adjustment is made to adapt to the situation that the support and the coal wall are not in place after adhesion, so that the support safety factor is controllable and high. BRIEF DESCRIPTION OF DRAWINGS

[0037] The present application and / or additional aspects and advantages will be more fully understood and appreciated by reference to the following detailed description taken in conjunction with the accompanying drawings, in which:

[0038] Figure 1 is a flowchart of a hydraulic support support state control method provided by the application.

[0039] Figure 2 is a schematic diagram of the installation of a three-axis inclination sensor in a hydraulic support in a hydraulic support support state control method provided by the application.

[0040] Figure 3 is a schematic diagram of the logic architecture of a hydraulic support support state control method provided by the application.

[0041] Figure 4 is a schematic diagram of the structure of a hydraulic support support state control device provided by the application.

[0042] Figure 5 is a schematic diagram of the structure of a non-transient computer readable storage medium storing computer instructions provided by the application. DETAILED DESCRIPTION

[0043] The embodiments of the application will be described in detail below, and examples of the embodiments are shown in the accompanying drawings, in which the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended to explain the application, and cannot be understood as limiting the application.

[0044] Figure 1 The hydraulic support support state control method provided by the embodiments of the application comprises:

[0045] Step S110: when the hydraulic support to be controlled is running to the working state, the hydraulic support pose state information is collected.

[0046] The present application measures and collects the inclination changes of the guard, connecting rod and base of the hydraulic support to be controlled in real time by arranging multi-three-axis inclination sensors on the guard, connecting rod and base of the hydraulic support to be controlled, and obtains the pose state information of the guard, connecting rod and base of the hydraulic support to be controlled.

[0047] The present application adopts three-axis inclination sensors and inner ring high-precision inclination measuring units, converts the inclination changes into inclination by measuring the static gravity acceleration, so as to measure the inclination and pitch angle of the sensor output relative to the horizontal plane. The three-axis inclination sensor is very suitable for application in the field of hydraulic support monitoring with high precision, has the characteristics of strong anti-electromagnetic interference ability, and is suitable for long-term work in harsh industrial environments. The characteristics are as follows:

[0048] (1) high measurement precision, with high-performance MCU built-in algorithm, high-frequency characteristics of data are improved through high oversampling rate, and higher precision data processing is performed through Kalman filtering algorithm after unreasonable sporadic error data is removed through data filtering algorithm.

[0049] (2) high resolution, with built-in 24-bit ADC sampling, the resolution is as high as 0.0001°, and the extremely small angle change can be sensed.

[0050] (3) digital communication and industrial quality, output standard RS485 digital signal; with IP68 protection level, can work in the environment of-40℃ to +85℃, and can be used in various harsh environments.

[0051] In the embodiment, three-axis inclination sensors are respectively installed on the guard, front and rear connecting rods and base of the hydraulic support, the installation positions are as shown in Figure 2 The inclination changes of the guard, front and rear connecting rods and base of the hydraulic support are measured in real time by the inclination sensors, and the processing of the support pose monitoring system is performed to achieve the purpose of real-time monitoring of the guard and the support pose of the hydraulic support.

[0052] In the process of the guard stretching and retracting, when the adhesion of the guard and the coal wall appears to be separated, whether the guard stretching and retracting state is in a reasonable range is monitored, if the condition is met, the guard continues to stretch and retract, if the condition is not met, the attitude of the hydraulic support is adjusted to adapt to the adhesion of the guard and the coal wall being always in the ideal range.

[0053] When judging the pose state information of the guard of the hydraulic support, the steps include:

[0054] Before the hydraulic support to be controlled starts to act, the attitude angle of the three-axis inclination sensor arranged on the guard is collected, and is set as the initial attitude angle.

[0055] In the hydraulic support action process to be controlled, the posture angle of the three-axis inclination sensor arranged on the support is collected in real time, and the final posture angle after stopping the action is determined;

[0056] Based on the initial posture angle and the final posture angle, the first stretching state of the support is determined;

[0057] Based on the initial posture angle and the final posture angle, the second stretching state of the support is determined according to the angle change;

[0058] When the first stretching state and the second stretching state are consistent, the final pose state information of the support is determined.

[0059] Specifically, the state of the support inclination angle perpendicular to the downward direction is taken as a reference to establish a reference coordinate system. When the support moves, the three-axis inclination value of the support will change accordingly, and the stretching state of the support can be monitored through the change of the inclination angle.

[0060] The current posture angle of the support inclination angle is read, and the posture angle is set as the reference angle (θ x0 , θ y0 , θ z0 ), by monitoring the posture angle of the support in real time, according to the change of the three-axis inclination value, the first stretching state of the support can be determined.

[0061]

[0062] Table 1 First support state monitoring

[0063] The target difference value of the support inclination angle change is set, and the z-axis angle change value△Θ zt When the cumulative target difference value is reached, it is judged that the support stretching is completed, and when the support inclination angle data does not change within a certain time, it is further judged that the stretching is completed, and the support stretching state 2 is confirmed. As shown in Table 2.

[0064]

[0065] Table 2 Second support state monitoring

[0066] When the first support state and the second support state are consistent, the final pose state of the support can be determined.

[0067] Similarly, the support pose monitoring control system reads the posture angle of the inclination sensor of the base, and sets the posture angle as the reference angle (θ x0 , θ y0 , θ z0), by real-time monitoring of the base attitude angle changes, such as Table 3, according to the change of three-axis tilt angle value, the first inclination state of the base can be judged.

[0068]

[0069] Table 3 Hydraulic support base first inclination state monitoring

[0070] By setting the inclination change difference respectively, when the y-axis angle change amount accumulates to the target difference within the action time of the two, the second inclination state of the hydraulic support base is judged, as shown in Table 4, and when the base inclination data does not change within a certain time, the overall state of the hydraulic support base is further judged.

[0071]

[0072] Table 4 Hydraulic support base second inclination state monitoring

[0073] When the first inclination state of the base and the second inclination state of the base are consistent, the final pose state of the base can be determined.

[0074] Step S120: constructing a hydraulic support model corresponding to the hydraulic support to be controlled, and inputting the collected hydraulic support pose state information into the hydraulic support model.

[0075] Specifically, a hydraulic support model corresponding to the hydraulic support to be controlled in the same proportion is constructed in the three-dimensional model software;

[0076] Extracting the final attitude angle of the three-axis tilt angle sensor set on the guard, connecting rod and base in the pose state information of the hydraulic support to be controlled;

[0077] According to the final attitude angle of the three-axis tilt angle sensor set on the guard, connecting rod and base, the pose state of the guard, connecting rod and base of the hydraulic support model is adjusted.

[0078] Step S130: judging whether the hydraulic support model running according to the actual hydraulic support pose state data is in a stable state in the working environment model corresponding to the working environment of the hydraulic support to be controlled.

[0079] Specifically, while constructing the hydraulic support model corresponding to the hydraulic support to be controlled in the same proportion, a working environment model corresponding to the actual working environment of the hydraulic support to be controlled in the same proportion is constructed;

[0080] After adjusting the hydraulic support model according to the pose state information of the hydraulic support to be controlled, the fit of the guard of the hydraulic support model and the working face coal wall of the working environment model, and the fit of the base of the hydraulic support model and the position of the roadway ground are observed in the three-dimensional model.

[0081] If the hydraulic support model's guard and the working environment model's working face coal wall are in contact, and the hydraulic support model's base and the roadway ground at the location are in contact, the hydraulic support model is in a stable state in the working environment model.

[0082] Step S140: If in a non-equilibrium state, fine-tune the pose state information of the hydraulic support model to make the hydraulic support model in an equilibrium state.

[0083] Specifically, if the hydraulic support model's guard and the working environment model's working face coal wall are not in contact, and / or the hydraulic support model's base and the roadway ground at the location are not in contact, the pose of the hydraulic support model's guard is adjusted to make the hydraulic support model's guard and the working environment model's working face coal wall in contact.

[0084] When the hydraulic support model's guard and the working environment model's working face coal wall are in contact, the poses of the hydraulic support model's connecting rod and base are adjusted to make the hydraulic support model's guard and the working environment model's working face coal wall in contact.

[0085] Step S150: According to the hydraulic support model's pose state information after fine-tuning and being in an equilibrium state, adjust the pose of the hydraulic support to be controlled to make the hydraulic support to be controlled in an equilibrium state.

[0086] To realize the real-time contact requirement of the guard and the coal wall, the action posture of the guard in the hydraulic support is monitored and accurately controlled all the time, and the overall pose state of the hydraulic support is effectively controlled, and the support quality is real-time evaluated. The present application provides a control scheme of the hydraulic support support state, and a control scheme architecture diagram is shown as Figure 3 The specific technical scheme is as follows:

[0087] The support pose monitoring control system controls the extension and retraction state of the guard first through the pose target output module based on the monitoring process, and controls the guard to be in contact with the coal wall. In the process of the guard extension and retraction state, when the contact between the guard and the coal wall appears to be separated, the support pose monitoring control system will monitor whether the guard extension and retraction state is within a reasonable range. If the condition is met, the guard continues to extend and retract state is adjusted; if the condition is not met, the pose of the hydraulic support is adjusted to adapt to the contact between the guard and the coal wall to be always within the ideal range. The control method is divided into three parts.

[0088] a. Pose monitoring stage: based on the pose monitoring of the guard and the hydraulic support, information is obtained. Specifically, the front and back change difference Δtz of the guard inclination angle, the connecting rod inclination angle and the base inclination angle is obtained, which is compared with the target difference value respectively, and the analysis result is transmitted to the support pose monitoring control system, and then the poses of the guard and the hydraulic support are obtained respectively, and only the real-time pose information of the guard is fed back to the support pose monitoring control system.

[0089] b. Data processing stage: after the model fuses the data, the adjusted pose target information is output, and the priority of the target information from high to low is the support pose target information, the connecting rod pose target information and the base pose target information in turn, and the priority is to first adjust the real-time fitting of the support and the coal wall, and then sequentially fine-tune the pose of the connecting rod and the base of the hydraulic support.

[0090] c. Pose control stage: the electro-hydraulic controller of the hydraulic support receives the target pose and issues the adjusted pose to the support, the connecting rod and the base. After the support completes the real-time fitting with the coal wall, the adjusted pose is preferentially fed back to the support pose monitoring control system for data processing, and then the instructions are sequentially issued to the connecting rod and the base for pose fine-tuning.

[0091] As shown in Figure 4 , the present application proposes a control device 300 for the support state of a hydraulic support, comprising:

[0092] The acquisition module 310 is used to acquire the hydraulic support pose state information when the hydraulic support to be controlled is running to the working state;

[0093] The model construction module 320 is used to construct the hydraulic support model corresponding to the hydraulic support to be controlled, and input the acquired hydraulic support pose state information into the hydraulic support model;

[0094] The judgment module 330 is used to judge whether the hydraulic support model running according to the actual hydraulic support pose state data is in a stable state in the working environment model constructed according to the working environment of the hydraulic support to be controlled;

[0095] The model adjustment module 340 is used to fine-tune the pose state information of the hydraulic support model when it is in a non-equilibrium state, so that the hydraulic support model is in an equilibrium state;

[0096] The hydraulic support adjustment module 350 is used to adjust the pose of the hydraulic support to be controlled according to the hydraulic support model pose state information in the equilibrium state after fine-tuning, so that the hydraulic support to be controlled is in an equilibrium state.

[0097] In order to realize the embodiments, the present application further proposes an electronic device, comprising: at least one processor; and a memory connected in communication with the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform each step in the control method of the hydraulic support support state.

[0098] As shown in Figure 5As shown, the non-transitory computer-readable storage medium includes a memory 810 for instructions and an interface 830. The instructions can be executed by a control processor 820 based on the hydraulic support support state to complete the method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, such as a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device.

[0099] To implement the embodiments, the present invention also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements control of the hydraulic support state as described in the embodiments of the present invention.

[0100] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0101] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0102] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0103] The logic and / or steps represented in the flowcharts and / or described herein, for example, can be considered as a sequence of executable instructions stored in a computer readable medium, which can be executed by an instruction execution system, apparatus or device, such as a computer-based system, processor- based system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions, or a combination thereof. For the purposes of this specification, a "computer readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. The computer readable medium can be a computer readable storage medium or a computer readable signal medium. The computer readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, a portable computer diskette (magnetic), a RAM (random access memory), a ROM (read only memory), an EPROM (erasable programmable ROM), EEPROM (electrically erasable programmable ROM), a storage

[0104] It should be understood that aspects of the application can be implemented in hardware, software, firmware or a combination thereof. In this embodiment, various steps or methods can be embodied in software or firmware stored in a memory and executed by a suitable instruction execution system. As such, it should be understood that aspects of the application can be implemented in a variety of ways, including as a computer readable medium comprising code or instructions to be executed by an instruction execution system, or as a computer readable medium comprising code or instructions to be executed by an instruction execution system.

[0105] It should be understood that the steps carried out by the method of the embodiments can be implemented by a program instructing the relevant hardware, and the program can be stored in a computer readable storage medium. When the program is executed, it includes one of the steps of the method embodiments or a combination thereof.

[0106] In addition, each function unit in each embodiment of the present application can be integrated in one processing module, or each unit can be physically present separately, or two or more units can be integrated in one module. The integrated module can be realized in the form of hardware or in the form of a software function module. When the integrated module is realized in the form of a software function module and sold or used as an independent product, it can also be stored in a computer readable storage medium.

[0107] The mentioned storage medium can be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present application have been shown and described above, it should be understood that the embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the embodiments within the scope of the present application.

Claims

1. A method for controlling the support state of a hydraulic support, characterized in that, include: When the hydraulic support to be controlled is in working state, the position and posture information of the hydraulic support is collected; Construct a hydraulic support model corresponding to the hydraulic support to be controlled, and input the collected hydraulic support pose state information into the hydraulic support model; Determine whether the hydraulic support model, which operates according to the actual posture data of the hydraulic support to be operated, is in a stable state in the working environment model constructed according to the working environment of the hydraulic support to be controlled; wherein, the stable state is determined by the following methods: determining whether the sidewall of the hydraulic support model is in contact with the working face coal wall of the working environment model, and whether the base of the hydraulic support model is in contact with the ground of the roadway at its location. If the hydraulic support model is in an unbalanced state, the position and orientation information of the hydraulic support model is fine-tuned to bring the hydraulic support model into a balanced state. The fine-tuning includes: if the sidewall is not in contact with the coal face, or the base is not in contact with the roadway floor, the position and orientation of the sidewall of the hydraulic support model are adjusted; when the sidewall is in contact with the coal face, the position and orientation of the connecting rod and the base of the hydraulic support model are adjusted accordingly to bring the sidewall in contact with the coal face. Based on the pose information of the hydraulic support model in a balanced state after fine-tuning, adjust the pose of the hydraulic support to be controlled so that the hydraulic support to be controlled is in a balanced state.

2. The method for controlling the support state of a hydraulic support according to claim 1, characterized in that, In the step of collecting the position and posture information of the hydraulic support when it is in working state, multiple three-axis tilt sensors are installed on the side rails, connecting rods and base of the hydraulic support to be controlled to measure and collect the tilt angle changes of the side rails, connecting rods and base of the hydraulic support to be controlled in real time, so as to obtain the position and posture information of the side rails, connecting rods and base of the hydraulic support to be controlled.

3. The method for controlling the support state of a hydraulic support according to claim 2, characterized in that, The step of determining the positional status information of the hydraulic support's sidewall includes: Before the hydraulic support to be controlled begins to move, the attitude angle of the three-axis tilt sensor installed on the guardrail is collected and set as the initial attitude angle. During the operation of the hydraulic support to be controlled, the attitude angle of the three-axis tilt sensor installed on the guardrail is collected in real time, and the final attitude angle after the operation stops is determined. Based on the initial posture angle and the final posture angle, the first extension and retraction state of the guardrail is determined; Based on the initial posture angle and the final posture angle, the second extension / retraction state of the guardrail is determined according to the amount of angle change; When the first extension state and the second extension state are consistent, the final positional state information of the guardrail is determined.

4. The method for controlling the support state of a hydraulic support according to claim 2, characterized in that, The step of determining the position and orientation information of the base of the hydraulic support includes: Before the hydraulic support to be controlled begins to move, the attitude angle of the three-axis tilt sensor set on the base is collected and set as the initial attitude angle. During the operation of the hydraulic support to be controlled, the attitude angle of the three-axis tilt sensor set on the base is collected in real time, and the final attitude angle after the operation stops is determined. Based on the initial attitude angle and the final attitude angle, the first tilt state of the base is determined; Based on the initial attitude angle and the final attitude angle, the second tilt state of the base is determined according to the angle change. When the first tilt state and the second tilt state are consistent, the final positional state information of the base is determined.

5. The method for controlling the support state of a hydraulic support according to claim 4, characterized in that, The steps of constructing a hydraulic support model corresponding to the hydraulic support to be controlled and inputting the collected hydraulic support pose state information into the hydraulic support model include: Construct a hydraulic support model in 3D modeling software that corresponds to the hydraulic support to be controlled at the same scale; Extract the final attitude angles of the three-axis tilt sensors installed on the side guard, connecting rod, and base from the position and posture information of the hydraulic support to be controlled. Based on the final attitude angles of the three-axis tilt sensors installed on the sidewalls, connecting rods, and base, the position and attitude states of the sidewalls, connecting rods, and base of the hydraulic support model are adjusted accordingly.

6. The method for controlling the support state of a hydraulic support according to claim 5, characterized in that, The step of determining whether the hydraulic support model, which operates according to the actual pose data of the hydraulic support to be operated, is in a stable state within the working environment model constructed corresponding to the working environment of the hydraulic support to be controlled includes: While constructing a hydraulic support model that corresponds to the hydraulic support to be controlled at the same scale, a working environment model that corresponds to the actual working environment of the hydraulic support to be controlled at the same scale is also constructed. After adjusting the hydraulic support model according to the position and state information of the hydraulic support to be controlled, observe the fit between the support wall of the hydraulic support model and the working face coal wall of the working environment model, as well as the fit between the base of the hydraulic support model and the roadway floor at its location in the three-dimensional model. If the sidewall of the hydraulic support model is in contact with the working face coal wall of the working environment model, and the base of the hydraulic support model is in contact with the ground of the roadway at the location, the hydraulic support model is in a stable state in the working environment model.

7. The method for controlling the support state of a hydraulic support according to claim 6, characterized in that, The step of fine-tuning the pose information of the hydraulic support model to bring it into a balanced state if it is in a non-equilibrium state includes: If the sidewall of the hydraulic support model is not in contact with the working face coal wall of the working environment model, or if the base of the hydraulic support model is not in contact with the roadway ground at its location, the position of the sidewall of the hydraulic support model is adjusted to make the sidewall of the hydraulic support model in contact with the working face coal wall of the working environment model. When the sidewall of the hydraulic support model is in contact with the working face coal wall of the working environment model, the positions of the connecting rods and base of the hydraulic support model are adjusted accordingly to ensure that the sidewall of the hydraulic support model is in contact with the working face coal wall of the working environment model.

8. A control device for the support state of a hydraulic support, characterized in that, include: The data acquisition module is used to acquire the position and orientation information of the hydraulic support when it is in working condition. The model building module is used to build a hydraulic support model corresponding to the hydraulic support to be controlled, and input the collected hydraulic support pose state information into the hydraulic support model; The judgment module is used to determine whether the hydraulic support model, which is running according to the actual posture data of the hydraulic support to be operated, is in a stable state in the working environment model constructed according to the working environment of the hydraulic support to be controlled; wherein, the stable state is determined by the following methods: determining whether the sidewall of the hydraulic support model is in contact with the working face coal wall of the working environment model, and whether the base of the hydraulic support model is in contact with the ground of the roadway at its location. The model adjustment module is used to fine-tune the position and orientation information of the hydraulic support model when it is in an unbalanced state, so that the hydraulic support model is in a balanced state; wherein, the fine-tuning includes: if the sidewall is not in contact with the coal face wall, or the base is not in contact with the roadway floor at the location, adjusting the position and orientation of the sidewall of the hydraulic support model; when the sidewall is in contact with the coal face wall, correspondingly adjusting the position and orientation of the connecting rod and the base of the hydraulic support model so that the sidewall is in contact with the coal face wall; The hydraulic support adjustment module is used to adjust the position and orientation of the hydraulic support to be controlled according to the position and orientation information of the hydraulic support model in a balanced state after fine-tuning, so as to bring the hydraulic support to be controlled into a balanced state.

9. An electronic device, comprising: At least one processor; And a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1-7.

10. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform each step of the method according to any one of claims 1-7.

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