A hydraulic support straightening device and method based on machine vision trajectory planning

Abstract

The application discloses a hydraulic support straightening device and method based on machine vision trajectory planning, relates to the coal mining and transportation field, and utilizes a light emitting unit to emit a collimated light beam into a chute, sets a reflective strip in the chute, utilizes an image acquisition unit to acquire images of the collimated light beam and the reflective strip, and a terminal processing unit determines whether the collimated light beam is in the chute according to a light reflection principle of the reflective strip; if the collimated light beam is not in the chute, the hydraulic support is coarsely straightened; in addition, the application also utilizes a distance detection unit to detect a distance between an inner wall of the chute and the collimated light beam, and the terminal processing unit determines a real trajectory of the hydraulic support according to the distance, and finely straightens the hydraulic support according to the real trajectory and a preset trajectory. The application improves the efficiency of the hydraulic support straightening work.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of coal mining and transportation, and particularly relates to a hydraulic support straightening device and method based on machine vision trajectory planning. BACKGROUND

[0002] With the popularity of full automation and unmanned, fully mechanized mining work also more uses electro-hydraulic control system and automation system to work. At present, in order to realize the standard of "three straight two flat", that is, the scraper conveyor and the hydraulic support and the coal wall are in a straight line state, so that the scraper conveyor and the hydraulic support can run efficiently has become a bottleneck.

[0003] In fully mechanized mining work, the basic wire drawing method and visual method are generally used, which will produce a large error and affect the work efficiency when used for straightening. Secondly, the gyroscope is installed in the top beam side guard plate of the coal mining machine, and the trajectory of the coal mining machine during cutting is collected to judge whether the hydraulic support and the scraper conveyor are in a straight line motion state. However, the gyroscope will have a great influence when the hydraulic support works vibrate, so the effect is not ideal. With the continuous development of science and technology, a straightening sensor is designed to measure the relative position between the supports. Permanent magnets and sensors are mainly used, which are installed in the supports, but there is a certain limitation for the distance, and the magnetic field of the permanent magnet in the support will change, thereby affecting the accuracy of the sensor. At present, a safe, reliable, high economic value and efficient method has not been found. For the coal industry, too precise instruments will cause the cost of coal mining to rise rapidly, making profits become less and less, affecting the efficiency of the enterprise. Too simple instruments cannot control the accuracy well, and are easy to produce a large error and affect the work progress, so a device is needed to realize a method combining high and low accuracy, so as to reduce the work cost and improve the efficiency. SUMMARY

[0004] The purpose of the present application is to provide a hydraulic support straightening device and method based on machine vision trajectory planning to improve the work efficiency of the hydraulic support straightening.

[0005] To achieve the above purpose, the present application provides the following scheme:

[0006] A hydraulic support straightening device based on machine vision trajectory planning, comprising:

[0007] A light emitting unit is arranged at one end of the chute of the scraper conveyor and located on the central axis of the chute, and is used for emitting a collimated light beam; the chute comprises a plurality of sub-chutes;

[0008] A reflective strip is arranged at the center position of each sub-chute and perpendicular to the central axis of the sub-chute;

[0009] an image acquisition unit fixed to the lower side of the top plate of each hydraulic support, configured to acquire an image of the collimated light beam and the reflective strip;

[0010] a distance detection unit arranged on the inner wall of each sub-belt conveyor, configured to detect the distance between the inner wall of the sub-belt conveyor and the collimated light beam;

[0011] a terminal processing unit connected to the distance detection unit and the image acquisition unit, configured to determine a first adjustment signal according to the image, determine a second adjustment signal according to the distance, and transmit the first adjustment signal and the second adjustment signal to the control end of the hydraulic support, so as to adjust the position of the hydraulic support, and make the plurality of hydraulic supports be located on a straight line.

[0012] Optionally, the light ray emitting unit is a laser collimator.

[0013] Optionally, the distance detection unit is a plurality of distance sensors.

[0014] Optionally, the image acquisition unit comprises:

[0015] a fixing support;

[0016] an industrial camera mounted on the lower side of the top plate of each hydraulic support through the fixing support, configured to acquire the image.

[0017] Optionally, the terminal processing unit comprises:

[0018] an image processing module connected to the image acquisition unit, configured to determine whether the collimated light beam is in the belt conveyor according to the image, and determine the first adjustment signal according to the image;

[0019] a distance processing module connected to the distance detection unit, configured to determine the real track of the hydraulic support according to the distance, and determine the second adjustment signal according to the real track and a preset track;

[0020] a terminal display module connected to the distance detection unit, the image processing module and the distance processing module, configured to display the image, the distance and the real track.

[0021] Optionally, the system further comprises:

[0022] a power supply connected to the light ray emitting unit, the image acquisition unit, the distance detection unit and the terminal processing unit, configured to supply power to the light ray emitting unit, the image acquisition unit, the distance detection unit and the terminal processing unit.

[0023] A hydraulic support straightening method based on machine vision trajectory planning, the method is applied to the hydraulic support straightening device based on machine vision trajectory planning, the method comprises:

[0024] Obtaining the image of the collimated light beam and the reflecting strip and the distance between the inner wall of the chute and the collimated light beam;

[0025] According to the image, it is judged whether the collimated light beam is in the chute or not, and a first judgment result is obtained;

[0026] If the first judgment result is that the collimated light beam is in the chute, the real trajectory of the hydraulic support is determined according to the distance;

[0027] If the first judgment result is that the collimated light beam is not in the chute, a first adjustment signal is determined according to the image, and the first adjustment signal is transmitted to the hydraulic support control end to coarsely adjust the position of the hydraulic support, and the step of obtaining the image of the collimated light beam and the reflecting strip and the distance between the inner wall of the chute and the collimated light beam is returned;

[0028] It is judged whether the real trajectory is consistent with the preset trajectory or not, and a second judgment result is obtained;

[0029] If the second judgment result is that the real trajectory is consistent with the preset trajectory, the hydraulic support does not need to be adjusted;

[0030] If the second judgment result is that the real trajectory is not consistent with the preset trajectory, a second adjustment signal is determined according to the real trajectory and the preset trajectory, and the second adjustment signal is transmitted to the hydraulic support control end to finely adjust the position of the hydraulic support, so that a plurality of hydraulic supports are located on a straight line.

[0031] According to the specific embodiments provided by the present application, the following technical effects are disclosed:

[0032] The present application utilizes the light emitting unit to emit the collimated light beam into the chute, sets the reflecting strip in the chute, utilizes the image acquisition unit to acquire the image of the collimated light beam and the reflecting strip, and the terminal processing unit determines whether the collimated light beam is in the chute according to the reflecting principle of the reflecting strip, if the collimated light beam is not in the chute, the hydraulic support is coarsely straightened, in addition, the distance detection unit is also used to detect the distance between the inner wall of the chute and the collimated light beam, the real trajectory of the hydraulic support is determined according to the distance, and the hydraulic support is finely straightened according to the real trajectory and the preset trajectory. The present application improves the efficiency of the hydraulic support straightening work. BRIEF DESCRIPTION OF DRAWINGS

[0033] In order to make the technical solutions in the embodiments of the present application or the prior art clearer, the accompanying drawings needed in the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below only illustrate some of the embodiments of the present application, and all other embodiments obtained by a person of ordinary skill in the art without creative effort based on the embodiments of the present application shall fall within the protection scope of the present application.

[0034] Figure 1 A structural block diagram of the hydraulic support straightening device based on machine vision trajectory planning is provided in the present application.

[0035] Figure 2 A schematic view of the arrangement of some parts in the present application is provided.

[0036] Figure 3 A schematic view of the coal mining and transporting device in the present application is provided.

[0037] Figure 4 A schematic view of the installation of the industrial camera in the present application is provided.

[0038] Figure 5 A top view of the coal mining machine in the present application is provided.

[0039] Figure 6 A side view of the scraper conveyor in the present application is provided.

[0040] Figure 7 A schematic view of the chute structure in the present application is provided.

[0041] Figure 8 A flow chart of the hydraulic support straightening method based on machine vision trajectory planning is provided in the present application.

[0042] Symbol explanation: 51, roller; 52, cutting part; 53, traction part; 54, electrical part; 55, sliding shoe; 56, scraper conveyor; 61, driving sprocket; 62, scraper chain; 63, upper and lower chutes; 64, tensioning device; 71, coal baffle; 72, guide pipe; 73, scraper; 74, coal shoveling plate; 75, chute. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative effort shall fall within the protection scope of the present application.

[0044] The purpose of the present application is to provide a hydraulic support straightening device and method based on machine vision trajectory planning, so as to improve the working efficiency of hydraulic support straightening.

[0045] In order to make the above objectives, characteristics and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0046] As shown in Figure 1 , the hydraulic support straightening device based on machine vision trajectory planning of the present application comprises:

[0047] The light emitting unit is arranged at one end of the chute of the scraper conveyor and located on the central axis of the chute, and is used for emitting a collimated light beam; the chute comprises multiple sub-chutes. The light emitting unit is a laser collimator. The light emitting unit is not shown in Figure 1 .

[0048] The reflective strip is arranged at the central position of each sub-chute and perpendicular to the central axis of the sub-chute. The reflective strip is not shown in Figure 1 .

[0049] The image acquisition unit is fixed to the lower side of the top plate of each hydraulic support, and is used for acquiring images of the collimated light beam and the reflective strip.

[0050] Further, the image acquisition unit comprises:

[0051] The fixed support.

[0052] The industrial camera is mounted on the lower side of the top plate of each hydraulic support through the fixed support, and is used for acquiring the images.

[0053] In actual application, the reflective strip reflective principle and the image acquisition of the industrial camera are used to determine whether the laser emitted by the laser collimator (collimated light beam) is in the chute. The determination result is: if the laser is in the chute, it is in normal state, and if it is not in the chute, the position of the hydraulic support needs to be corrected through the images acquired by the industrial camera, so that the laser can pass through the chute.

[0054] The distance detection unit is arranged on the inner wall of each sub-chute, and is used for detecting the distance between the inner wall of the sub-chute and the collimated light beam. The distance detection unit is a plurality of distance sensors.

[0055] In actual application, the distance sensor is placed inside the chute, and the data measured by the distance sensor is simulated in the virtual interface of the mobile terminal.

[0056] The hydraulic support straightening device based on machine vision trajectory planning is used underground, so the explosion-proof equipment is adopted, and the reflective strip is pasted vertically to the central axis of the chute by using the adhesive method at the central position of each sub-chute, as shown in Figure 2As shown, the laser collimator is installed at the leftmost center position of the chute, and the laser beam (collimated light beam) is emitted by the laser collimator, which serves as the reference axis, and the center of each part in the chute is located on the reference axis. The hydraulic support pushing jack is extended, the pushing rod is extended, the scraper conveyor is pushed forward by one step, then the pushing jack is retracted, the pushing rod is retracted, the scraper conveyor reacts on the hydraulic support to drive the hydraulic support to move forward by one step, and the hydraulic support moving is completed, thereby realizing the forward movement of the coal mining machine. The 10 hydraulic supports are divided into 10 groups, and 10 sub-chutes are obtained as a chute group. A distance sensor is installed at the middle inside of the first sub-chute of each group of chutes, i.e. close to the side of the hydraulic support Figure 2 As shown, the distance sensor can measure the distance between the distance sensor and the laser beam. The measured data is analyzed and processed in the virtual interface to obtain a group of values to determine the real trajectory. Through comparison and processing, the deviated sub-chute is corrected, the working face trajectory planning suggestion is provided through machine vision technology, and accurate straightening is realized.

[0057] When the laser collimator and the distance sensor are used subsequently, the laser beam outside the chute makes the distance sensor unable to detect the distance between the laser beam and the edge. The explosion-proof industrial camera of the device is hung on the top plate of the last hydraulic support of the 1st, 3rd, 5th, 7th and 9th groups by a hinge, i.e. Figure 3 As shown, the rightmost support is the first group of supports, and the ninth group of supports can be obtained in the same way.

[0058] The industrial camera is installed by using a fixed support, which is different from the hydraulic support. The fixed support is used for fixing the industrial camera, and is installed on the lower side of the top plate of the hydraulic support. A load-bearing column is fixed by a suction cup on the lower side of the top plate of the hydraulic support to support the industrial camera. The industrial camera can be easily removed and can rotate 360 degrees without dead angle. A power supply port is provided on one side of the fixed support for power input of the industrial camera, as shown in Figure 4 As shown, the pictures collected by the industrial camera are processed to find the chute without laser for adjustment and straightening. This step mainly uses the images taken by the industrial camera to analyze the data by using graphpadprism7 software to determine whether the rays emitted by the laser collimator can pass through the reflective strips of each hydraulic support chute.

[0059] The terminal processing unit is connected with the distance detection unit and the image acquisition unit respectively, used for determining a first adjustment signal according to the image, determining a second adjustment signal according to the distance, and transmitting the first adjustment signal and the second adjustment signal to the hydraulic support control end to adjust the position of the hydraulic support, so that the plurality of hydraulic supports are located on a straight line. The image acquisition unit is connected with the terminal processing unit through an industrial Ethernet.

[0060] In practical application, if the simulated motion track (real track) in the virtual interface (terminal processing unit) is not the same as the preset track, the position of the hydraulic support is corrected, and the correction data (second adjustment signal) is transmitted to the real terminal (hydraulic support control terminal) for adjustment. If the simulated motion track is the same as the preset track, it proves that the fully mechanized mining process is in a normal state, that is, the straight line of the coal mining machine cutting, and if the simulated motion track is not consistent with the preset track, the position of the hydraulic support needs to be corrected.

[0061] Further, the terminal processing unit comprises:

[0062] An image processing module connected with the image acquisition unit, configured to determine whether the collimated light beam is in the chute according to the image, and determine a first adjustment signal according to the image.

[0063] A distance processing module connected with the distance detection unit, configured to determine a real track of the hydraulic support according to the distance, and determine a second adjustment signal according to the real track and a preset track.

[0064] A terminal display module connected with the distance detection unit, the image processing module and the distance processing module, respectively, configured to display the image, the distance and the real track.

[0065] The terminal processing unit is mainly divided into two modules, one is the actual motion display under the mine, which is used for real-time monitoring under the mine. One is a virtual simulation module of the command system on the mine, which mainly simulates the moving track of the hydraulic support and possible problems. The real terminal and the virtual terminal are connected through Ethernet, and the terminal processing unit receives the data of the distance sensor in the hydraulic support, saves the data to the virtual terminal, and simulates the track in the virtual terminal. Deviation is found in time and corrected so that the motion track of the hydraulic support is in a straight line state, and the virtual reality technology is used to realize more accurate, efficient and intuitive straightening.

[0066] The visual image and data are processed to determine whether the next chute is in a horizontal position, so as to realize the straightening work of the hydraulic support.

[0067] Further, the hydraulic support straightening device based on machine vision track planning further comprises:

[0068] A power supply connected with the light emitting unit, the image acquisition unit, the distance detection unit and the terminal processing unit, respectively, configured to supply power to the light emitting unit, the image acquisition unit, the distance detection unit and the terminal processing unit.

[0069] The system finds straightness through real-time transmission, virtual-real combination, remote control, image processing and other methods. The laser collimator is installed at both ends of the chute through bolt chain, and the emitted laser is perpendicular to the chute and pastes the reflective strip in the middle of the chute. The reflective strip uses the principle of light reflection to form a reflective point. The industrial camera is installed on the corresponding bracket under the top plate, and the position relationship between the reflective strip and the laser beam is shot to judge whether the laser beam is in the chute. Further, the distance sensor is installed inside the chute through bolt chain to measure the distance between the chute and the laser beam. Through industrial Ethernet and MySQL, data transmission is carried out, and correction is carried out in the virtual end (terminal processing unit, virtual interface made by Unity). The corrected data is transmitted to the real end to realize straightness finding.

[0070] The position sequence of each component mechanism of coal mining and transportation: the coal mining machine as the frontmost equipment of coal mining work reciprocates in the chute inside the scraper conveyor. The middle of the scraper conveyor is the middle chute, chain and scraper for coal transportation work. The scraper conveyor and the moving device of the hydraulic support are connected by screw chain, and the moving jack is used to realize the movement of the hydraulic support and the scraper conveyor. The moving device of most hydraulic supports is connected between the hydraulic support and the scraper conveyor, which can move the support and push the scraper conveyor at the same time. The moving device is connected with the base of the hydraulic support, and the remaining connection part is the structure of the finished hydraulic support.

[0071] The hydraulic support includes hydraulic cylinders (columns, jacks), bearing structural members (top beams, shield beams and bases, etc.), moving devices, control systems and other auxiliary devices. The hydraulic support realizes the movement of lifting, lowering and pushing the chute through high-pressure liquid, columns and corresponding jacks. The coal mining machine is in front of the horizontal plane of the hydraulic support, and the base of the hydraulic support pushes the scraper conveyor to move forward and backward.

[0072] As shown in Figure 5 , the coal mining machine is composed of a drum 51, a cutting part 52, a traction part 53, an electrical part 54 and a sliding shoe 55. The scraper conveyor 56 is an independent component. The coal mining machine moves in the chute of the scraper conveyor. The function of the scraper conveyor is not only to transport coal and materials, but also to serve as the running track of the coal mining machine. The working structure diagram of the coal mining machine is as shown in Figure 3The coal mining machine should move from right to left in the chute of the scraper conveyor to complete the coal mining work. The hydraulic support uses the pressure emulsion to lift the initial support roof. With the roof sinking, the support resistance of the roof increases. The safety valve is used to limit the pressure of the locking liquid in the column to realize the constant resistance support. When moving the support, the column is first reduced to unload and separate the support from the roof. Then the action of the pusher is moved to realize the movement of the support with the scraper conveyor (or adjacent hydraulic support, etc.) as the fulcrum. The scraper conveyor is pushed with the support as the fulcrum. The hydraulic support can also realize various auxiliary actions such as support, balance, and adjustment of the support through various jacks, so as to realize the comprehensive mechanization of the coal mining, support, and transportation of the working face together with the coal mining machine and the scraper conveyor.

[0073] The coal mining machine moves in the chute of the scraper conveyor. The principle of the scraper conveyor is as follows: the scraper conveyor is a endless circulating scraper chain 62 around the machine head, driving sprocket 61, and tensioning device 64. The scraper chain 62 is used as a traction mechanism. The chute is used as a coal carrying mechanism. The motor is started to drive the chain sprocket through the shaft coupling and the speed reducer, so as to drive the scraper chain 62 to continuously run. The coal in the upper and lower chutes 63 is transported to the machine head (facing the working face, the left side is the machine head, and the right side is the tail) for unloading. Figure 6

[0074] The chute is used to provide a walking track for the coal mining machine. The chute is a guide mechanism and support mechanism for the traction chain and load of the scraper conveyor. The structure is shown in Figure 7

[0075] The on-site operation is controlled by feeling and experience to push the chute. The deviation is large, and the real straightening work in the fully mechanized mining process cannot be effectively realized. The device can optimize the working face track layout scheme under the coal mine, transmit the accurate position information to the monitoring center (the monitoring center is a virtual interface) in real time, correct the error of the hydraulic support and the pushing distance of the scraper conveyor, and improve the accuracy in the installation process.

[0076] In addition, in the traditional operation mode, the management personnel need to go down to the operation site to check and master the production situation of the working face, which is time-consuming and laborious and cannot master the on-site situation from a macro and overall perspective. The device can realize real-time detection of the working state of the hydraulic support and the scraper conveyor in the fully mechanized mining process, simulate the underground coal mining state through the virtual simulation system, reduce the friction loss of the scraper conveyor, effectively avoid accidents, reduce equipment maintenance cost, and ensure safe and efficient production.

[0077] Example Two

[0078] ​​The application further provides a hydraulic support straightening method based on machine vision trajectory planning. Figure 8 As shown in the figure, the method comprises the following steps:

[0079] Step 801: Obtain the image of the collimated light beam and the reflective strip and the distance between the inner wall of the chute and the collimated light beam.

[0080] Step 802: According to the image, determine whether the collimated light beam is in the chute, and obtain a first determination result.

[0081] Step 803: If the first determination result is that the collimated light beam is in the chute, determine the real trajectory of the hydraulic support according to the distance.

[0082] Step 804: If the first determination result is that the collimated light beam is not in the chute, determine a first adjustment signal according to the image, and transmit the first adjustment signal to the hydraulic support control end to coarsely adjust the position of the hydraulic support, and return to step 801.

[0083] Step 805: Determine whether the real trajectory is consistent with the preset trajectory, and obtain a second determination result.

[0084] Step 806: If the second determination result is that the real trajectory is consistent with the preset trajectory, no adjustment is needed for the hydraulic support.

[0085] Step 807: If the second determination result is that the real trajectory is not consistent with the preset trajectory, determine a second adjustment signal according to the real trajectory and the preset trajectory, and transmit the second adjustment signal to the hydraulic support control end to finely adjust the position of the hydraulic support, so that the plurality of hydraulic supports are located on a straight line.

[0086] The various embodiments in the specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts of each embodiment can be referred to each other.

[0087] The principles and implementation manners of the application are described by using specific examples in this paper. The above description of the embodiments is only used to help understand the method and core idea of the application. Meanwhile, for those skilled in the art, according to the idea of the application, the specific implementation manner and application range can be changed. In conclusion, the content of the specification should not be understood as a limitation of the application.

Claims

1. A hydraulic support straightening device based on machine vision trajectory planning, characterized in that, include: A light emitting unit is disposed at one end of the chute of the scraper conveyor and located on the central axis of the chute, for emitting a collimated light beam; the chute includes multiple sub-chute sections; Reflective strips are placed at the center of each sub-chute section and are perpendicular to the central axis of the sub-chute. An image acquisition unit is fixed to the underside of the top plate of each hydraulic support and is used to acquire images of the collimated beam and the reflective strip. A distance detection unit is installed on the inner wall of each sub-chute to detect the distance between the inner wall of the sub-chute and the collimating beam. The terminal processing unit is connected to the distance detection unit and the image acquisition unit respectively, and is used to determine a first adjustment signal based on the image, determine a second adjustment signal based on the distance, and transmit the first adjustment signal and the second adjustment signal to the hydraulic support control terminal to adjust the position of the hydraulic support so that the multiple hydraulic supports are in a straight line. The terminal processing unit includes: An image processing module, connected to the image acquisition unit, is used to determine whether the collimated beam is in the chute based on the image, and obtain a first judgment result. If the first judgment result is negative, a first adjustment signal is determined based on the image, and the first adjustment signal is transmitted to the hydraulic support control terminal to coarsely adjust the position of the hydraulic support. A distance processing module, connected to the distance detection unit, is used to determine the actual trajectory of the hydraulic support based on the distance if the first judgment result is yes, and to determine whether the actual trajectory is consistent with a preset trajectory to obtain a second judgment result; if the second judgment result is yes, no adjustment is required to the hydraulic support; if the second judgment result is no, a second adjustment signal is determined based on the actual trajectory and the preset trajectory, and the second adjustment signal is transmitted to the hydraulic support control terminal to finely adjust the position of the hydraulic support so that the multiple hydraulic supports are located on a straight line; The terminal display module is connected to the distance detection unit, the image processing module, and the distance processing module respectively, and is used to display the image, the distance, and the real trajectory.

2. The hydraulic support straightening device based on machine vision trajectory planning according to claim 1, characterized in that, The light emitting unit is a laser collimator.

3. The hydraulic support straightening device based on machine vision trajectory planning according to claim 1, characterized in that, The distance detection unit consists of multiple distance sensors.

4. The hydraulic support straightening device based on machine vision trajectory planning according to claim 1, characterized in that, The image acquisition unit includes: Fixed bracket; An industrial camera, mounted on the underside of the top plate of each of the hydraulic supports via the fixed bracket, is used to acquire the images.

5. The hydraulic support straightening device based on machine vision trajectory planning according to claim 1, characterized in that, Also includes: A power supply is connected to the light emitting unit, the image acquisition unit, the distance detection unit, and the terminal processing unit, respectively, and is used to supply power to the light emitting unit, the image acquisition unit, the distance detection unit, and the terminal processing unit.

6. A method for straightening a hydraulic support based on machine vision trajectory planning, characterized in that, The method is applied to the hydraulic support straightening device based on machine vision trajectory planning as described in any one of claims 1-5, and the method includes: Obtain images of the collimated beam and the reflective stripe, and the distance between the inner wall of the chute and the collimated beam; Based on the image, determine whether the collimated beam is inside the chute to obtain a first determination result; If the first judgment result is that the collimated beam is in the chute, then the actual trajectory of the hydraulic support is determined according to the distance; If the first judgment result is that the collimated beam is not in the chute, then the first adjustment signal is determined according to the image, and the first adjustment signal is transmitted to the hydraulic support control end to coarsely adjust the position of the hydraulic support, and return to the step of "obtaining the image of the collimated beam and the reflective strip and the distance between the inner wall of the chute and the collimated beam"; Determine whether the actual trajectory matches the preset trajectory to obtain a second determination result; If the second judgment result is that the actual trajectory is consistent with the preset trajectory, then no adjustment is needed to the hydraulic support; If the second judgment result is that the actual trajectory is inconsistent with the preset trajectory, then a second adjustment signal is determined based on the actual trajectory and the preset trajectory, and the second adjustment signal is transmitted to the hydraulic support control terminal to finely adjust the position of the hydraulic support so that the multiple hydraulic supports are located on a straight line.

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