A method for monitoring the alignment state of hydraulic support

Abstract

The present invention relates to the field of intelligent controller technology, and specifically to a method for monitoring the alignment status of a hydraulic support frame. The present invention arranges a plurality of hydraulic supports of the same model and specification in sequence along a working surface, records any two adjacent hydraulic supports as a first hydraulic support and a second hydraulic support, sets a first optical marker combination on the first top beam of the first hydraulic support, and sets a second optical marker combination on the second top beam of the second hydraulic support; the alignment status of adjacent hydraulic supports can be monitored by only shooting a current frame image that simultaneously includes the first optical marker combination and the second optical marker combination, and the monitoring of whether the top beams of adjacent hydraulic supports have moved into place and whether relative abnormal tilt occurs can be realized, which greatly simplifies the hardware system and does not require complex algorithm modeling, greatly improves the intelligence and usability of the present invention, and greatly expands the application scenarios of the present invention.

Description

Technical Field

[0001] The invention relates to the technical field of intelligent controllers, and in particular to a method for monitoring the alignment state of a hydraulic support frame. Background Art

[0002] A fully mechanized mining face consists of equipment such as a shearer, a scraper conveyor, and hydraulic supports. The scraper conveyor is constructed by connecting chutes in sections. Pins secure the connection holes of the scraper conveyor to the hydraulic support push rod connectors. The scraper conveyor's movement is achieved through the telescopic movement of the hydraulic support push jacks on the face. Multiple hydraulic supports are arranged in a row on the face. Their positions are constrained by the scraper conveyor, but their positions relative to each other are not constrained, creating a semi-floating system. To ensure proper operation of the face, the hydraulic supports must maintain a certain degree of straightness, essentially aligning themselves. Furthermore, during the mining process, the scraper conveyor serves as the track on which the shearer operates. Therefore, after the hydraulic supports have pushed the chute, the scraper conveyor must also maintain good straightness to ensure high-quality coal cutting.

[0003] Currently, manual hydraulic support systems rely entirely on manual pushing and sliding of the hydraulic supports to control the straightening of the scraper conveyor. The hydraulic support electro-hydraulic control system uses a travel sensor to control the movement of the hydraulic supports. However, in the existing technology, achieving straightness control of the hydraulic supports is relatively difficult, and accurately monitoring the hydraulic supports' posture is even more difficult. The existing technology often monitors the alignment of the hydraulic supports through hardware measurement systems. Due to the complex hardware structure of the hardware system, large measurement errors, and low accuracy, the existing technology lacks a precise monitoring solution for the alignment of the hydraulic supports to accurately and conveniently monitor the alignment of the hydraulic supports on the working surface.

[0004] Therefore, the existing technology needs to be further developed. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above technical deficiencies and provide a method for monitoring the alignment status of a hydraulic support so as to solve the problems existing in the prior art.

[0006] To achieve the above technical objectives, the present invention provides a method for monitoring the alignment status of a hydraulic support, wherein the hydraulic support includes a top beam and a control module, and the method includes:

[0007] S100, arranging a plurality of hydraulic supports of the same model and specification in sequence along a working surface, marking any two adjacent hydraulic supports as a first hydraulic support and a second hydraulic support, setting a first optical marker combination on a first top beam of the first hydraulic support, and setting a second optical marker combination on a second top beam of the second hydraulic support;

[0008] S200: During the rack moving process, using an optical camera to capture a current frame image containing both the first optical marker combination and the second optical marker combination at preset time intervals, thereby obtaining first position information of the first optical marker combination and second position information of the second optical marker combination;

[0009] S300. Obtain a first hydraulic support three-dimensional model corresponding to the first hydraulic support, obtain a second hydraulic support three-dimensional model corresponding to the second hydraulic support, calculate the first actual posture of the first top beam according to the first hydraulic support three-dimensional model and the first position information, calculate the second actual posture of the second top beam according to the second hydraulic support three-dimensional model and the second position information, determine the first RPY Euler angle and the first center of mass coordinates of the first top beam according to the first actual posture, determine the second RPY Euler angle and the second center of mass coordinates of the second top beam according to the second actual posture, determine the first RPY Euler angle and the second center of mass coordinates of the second top beam according to the first RPY Euler angle, the first center of mass coordinates, the second RPY Euler angle and the second center of mass coordinates, determine whether the first top beam and the second top beam are aligned according to the first RPY Euler angle, the first center of mass coordinates, the second RPY Euler angle and the second center of mass coordinates, and then determine whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements.

[0010] Specifically, the method of calculating the first actual position of the first top beam according to the first hydraulic support three-dimensional model and the first position information, and calculating the second actual position of the second top beam according to the second hydraulic support three-dimensional model and the second position information includes:

[0011] Define in the model space of the first hydraulic support three-dimensional model, establish a first model space coordinate system with the horizontal plane as the XOY plane, the Z axis as the vertical downward, and the origin of the coordinate system as the center of mass of the first top beam; and establish a second model space coordinate system in the model space of the second hydraulic support three-dimensional model according to the same method, determine a first position conversion relationship between the first hydraulic support three-dimensional model and the first optical marker combination; determine a second position conversion relationship between the second hydraulic support three-dimensional model and the second optical marker combination, calculate a first actual position pose of the first top beam based on the first position information and the first position conversion relationship, and calculate a second actual position pose of the second top beam based on the second position information and the second position conversion relationship.

[0012] Specifically, the first optical marker combination and the second optical marker combination each include at least three optical markers, the at least three optical markers are not on the same straight line, and the distance between any two optical markers in the first optical marker combination is different from the distance between any two optical markers in the second optical marker combination.

[0013] Specifically, the mass data of each mass element corresponding to the first hydraulic support three-dimensional model, the x, y, and z coordinate data of each mass element, and the total mass data of the first top beam are obtained, and the first center of mass coordinates (x1, y1, z1) are calculated using the following formula:

[0014] x1=(Σm i x i ) / M;

[0015] y1=(Σm i y i ) / M;

[0016] z1=(Σm i z i ) / M;

[0017] Among them, m i represents the mass of each mass element of the first top beam (2), x i 、y i and z i represent the x, y and z coordinates of each mass element of the first top beam (2), Σ represents the sum of all mass elements of the first top beam (2), and M represents the total mass of the first top beam (2);

[0018] Calculate the second centroid coordinates (x2, y2, z2) using the same method.

[0019] Specifically, the first RPY Euler angles include a first pitch angle, a first roll angle, and a first yaw angle, and the second RPY Euler angles include a second pitch angle, a second roll angle, and a second yaw angle. Determining whether the first top beam and the second top beam are aligned based on the first RPY Euler angles, the first center of mass coordinates, the second RPY Euler angles, and the second center of mass coordinates includes:

[0020] Calculate the absolute value of the difference between x2 and x1, and record it as the first deviation value;

[0021] Calculate the absolute value of the difference between y2 and y1, and record it as the second deviation value;

[0022] Calculate the absolute value of the difference between z2 and z1, and record it as the third deviation value;

[0023] Calculate the absolute value of the difference between the first pitch angle and the second pitch angle, and record it as a fourth deviation value;

[0024] Calculate the absolute value of the difference between the first roll angle and the second roll angle, and record it as a fifth deviation value;

[0025] Calculate the absolute value of the difference between the first yaw angle and the second yaw angle, and record it as the sixth yaw angle;

[0026] Whether the first top beam and the second top beam are aligned is determined according to the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, the fifth deviation value, and the sixth deviation value.

[0027] Specifically, determining whether the first top beam and the second top beam are aligned according to the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, the fifth deviation value, and the sixth deviation value includes:

[0028] Determine whether the first top beam and the second top beam have moved into position according to the first deviation value, the second deviation value, and the third deviation value;

[0029] determining whether the first top beam and the second top beam are abnormally tilted relative to each other according to the fourth deviation value, the fifth deviation value, and the sixth deviation value;

[0030] It is determined whether the first top beam and the second top beam are aligned based on the above determination result.

[0031] Specifically, determining whether the first top beam and the second top beam have moved into position according to the first deviation value, the second deviation value, and the third deviation value includes:

[0032] Determining whether the first deviation value is greater than or equal to a first preset threshold;

[0033] determining whether the second deviation value is greater than or equal to a second preset threshold;

[0034] determining whether the third deviation value is greater than or equal to a third preset threshold;

[0035] If the first deviation value is less than the first preset threshold value, the second deviation value is less than the second preset threshold value, and the third deviation value is less than the third preset threshold value, it is determined that the first top beam and the second top beam have moved into position, and a prompt signal indicating that the first top beam and the second top beam have moved into position is output;

[0036] If the first deviation value is greater than or equal to the first preset threshold, or the second deviation value is greater than or equal to the second preset threshold, or the third deviation value is greater than or equal to the third preset threshold; it is determined that the first top beam or the second top beam has not moved into place, and an alarm signal is output regarding the first top beam or the second top beam not moving into place.

[0037] Specifically, determining whether the first top beam and the second top beam are abnormally tilted relative to each other according to the fourth deviation value, the fifth deviation value, and the sixth deviation value includes:

[0038] determining whether a fourth deviation value is greater than or equal to a fourth preset threshold;

[0039] determining whether a fifth deviation value is greater than or equal to a fifth preset threshold;

[0040] determining whether a sixth deviation value is greater than or equal to a sixth preset threshold;

[0041] If the fourth deviation value is less than a fourth preset threshold value, the fifth deviation value is less than a fifth preset threshold value, and the sixth deviation value is less than a sixth preset threshold value, it is determined that the first top beam and the second top beam do not have an abnormal relative tilt, and a prompt signal indicating that the first top beam and the second top beam do not have an abnormal relative tilt is output;

[0042] If the fourth deviation value is greater than or equal to the fourth preset threshold, or the fifth deviation value is greater than or equal to the fifth preset threshold, or the sixth deviation value is greater than or equal to the sixth preset threshold, it is determined that the first top beam and the second top beam have an abnormal relative tilt, and an alarm signal regarding the abnormal relative tilt of the first top beam and the second top beam is output.

[0043] Specifically, the determining whether the first top beam and the second top beam are aligned according to the above determination result, and further determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, includes:

[0044] If the first top beam and the second top beam move into place and there is no abnormal relative tilt between the first top beam and the second top beam, it is determined that the first top beam and the second top beam are aligned, and then it is determined that the shifting alignment state of the first hydraulic support and the second hydraulic support meets the requirements, and a prompt signal about the alignment of the first top beam and the second top beam is output, and a prompt signal about the shifting alignment state of the first hydraulic support and the second hydraulic support meets the requirements is output.

[0045] Specifically, the determining whether the first top beam and the second top beam are aligned according to the above determination result, and then determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, further includes:

[0046] If the first top beam or the second top beam does not move into place, or the first top beam and the second top beam are abnormally tilted relative to each other, it is determined that the first top beam and the second top beam are not aligned, and then it is determined that the moving frame alignment state of the first hydraulic support and the second hydraulic support does not meet the requirements, and an alarm signal about the misalignment of the first top beam and the second top beam is output, and an alarm signal about the moving frame alignment state of the first hydraulic support and the second hydraulic support does not meet the requirements is output.

[0047] Beneficial effects:

[0048] The present invention realizes accurate monitoring of the alignment status of adjacent hydraulic supports simply by shooting the current frame image that simultaneously contains the first optical marker combination and the second optical marker combination, and can realize accurate monitoring of whether the top beams of adjacent hydraulic supports have moved into place and whether relative abnormal tilt has occurred. It greatly simplifies the hardware system and does not require complex algorithm modeling, which greatly improves the intelligence and usability of the present invention and greatly expands the application scenarios of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a schematic diagram of the installation position of the optical marker provided in a specific embodiment of the present invention;

[0050] Figure 2 1 is a flow chart of a method for monitoring the alignment status of a hydraulic support provided in a specific embodiment of the present invention;

[0051] Figure 3 It is a schematic diagram of the system composition of the hydraulic support shifting and alignment status monitoring system provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0052] In order to enable those skilled in the art to better understand the technical solution of the present invention, the technical solution of the present invention is clearly and completely described below in conjunction with the drawings of the present invention. Based on the embodiments in this application, other similar embodiments obtained by ordinary technicians in this field without making creative work should fall within the scope of protection of this application. In addition, the directional words mentioned in the following embodiments, such as "up", "down", "left", "right", etc., are only reference to the directions of the drawings. Therefore, the directional words used are used to illustrate rather than limit the invention.

[0053] The present invention will be further described below with reference to the accompanying drawings and preferred embodiments.

[0054] See also Figure 1 and Figure 2 The present invention provides a method for monitoring the alignment state of a hydraulic support, wherein the hydraulic support includes a top beam and a control module, and the method includes:

[0055] S100. Arrange multiple hydraulic supports of the same model and specification in sequence along a working surface, mark any two adjacent hydraulic supports as a first hydraulic support and a second hydraulic support, set a first optical marker combination on a first top beam 2 of the first hydraulic support, and set a second optical marker combination on a second top beam 3 of the second hydraulic support.

[0056] Figure 1 Reference numeral 1 in the drawing is a scraper conveyor.

[0057] It is understandable that the steps before step S100 include:

[0058] A first preset threshold, a second preset threshold, a third preset threshold, a fourth preset threshold, a fifth preset threshold, and a sixth preset threshold are preset in the control module. The above parameters can be set according to the actual needs of the user of the present invention. The present invention does not impose any specific restrictions on the specific values ​​of the above parameters. The present invention only protects the hydraulic support shift alignment status monitoring method proposed in the present invention. The settings of the above parameters are sufficient as long as they are applicable to the hydraulic support shift alignment status monitoring method proposed in the present invention.

[0059] Preferably, the present invention sets the first preset threshold, the second preset threshold, and the third preset threshold to 2 centimeters, and the present invention sets the fourth preset threshold, the fifth preset threshold, and the sixth preset threshold to 3 degrees. The above settings were obtained by technicians of the present invention through extensive testing and can well implement the hydraulic support shift alignment status monitoring method proposed in the present invention.

[0060] Specifically, the first optical marker combination and the second optical marker combination each include at least three optical markers 4, the at least three optical markers 4 are not on the same straight line, and the distance between any two optical markers 4 in the first optical marker combination is different from the distance between any two optical markers 4 in the second optical marker combination.

[0061] It can be understood that the above technical solution is used to utilize the fact that the distance between any two adjacent optical markers in the first optical marker combination is different from the distance between any two adjacent optical markers in the second optical marker combination, to distinguish the first optical marker combination from the second optical marker combination in the current frame image, thereby preventing recognition errors and further improving the reliability and stability of the present invention.

[0062] It can be understood that the present invention realizes the monitoring of the alignment status of the hydraulic support frame through the first optical marker combination and the second optical marker combination, and monitors the alignment status of the hydraulic support frame through the optical measurement system, which greatly reduces the errors caused by various hardware installations of the traditional hardware measurement system, greatly improves the monitoring accuracy, greatly improves the reliability and usability of the present invention, and greatly improves the monitoring effect of the alignment status of the hydraulic support frame.

[0063] S200: During the rack moving process, use an optical camera to capture a current frame image containing both the first optical marker combination and the second optical marker combination at preset time intervals, thereby obtaining first position information of the first optical marker combination and second position information of the second optical marker combination.

[0064] It is understandable that the optical camera is arranged above the first hydraulic support and the second hydraulic support, as long as it can simultaneously capture the first optical marker combination and the second optical marker combination.

[0065] S300. Obtain the three-dimensional model of the first hydraulic support corresponding to the first hydraulic support, obtain the three-dimensional model of the second hydraulic support corresponding to the second hydraulic support, calculate the first actual posture of the first top beam 2 according to the three-dimensional model of the first hydraulic support and the first position information, calculate the second actual posture of the second top beam 3 according to the three-dimensional model of the second hydraulic support and the second position information, determine the first RPY Euler angle and the first center of mass coordinates of the first top beam 2 according to the first actual posture, determine the second RPY Euler angle and the second center of mass coordinates of the second top beam 3 according to the second actual posture, determine the first RPY Euler angle and the second center of mass coordinates of the second top beam 3 according to the first RPY Euler angle, the first center of mass coordinates, the second RPY Euler angle and the second center of mass coordinates, determine whether the first top beam 2 and the second top beam 3 are aligned according to the first RPY Euler angle, the first center of mass coordinates, the second RPY Euler angle and the second center of mass coordinates, and then determine whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements.

[0066] It can be understood that the first hydraulic support is generated based on the first design drawing, which includes the geometric feature information of the first hydraulic support and the drawing position information of each optical marker in the first optical marker combination on the first hydraulic support; based on the geometric feature information of the three-dimensional model of the first hydraulic support and the geometric feature information of the first hydraulic support included in the first design drawing, the geometric feature matching relationship between the three-dimensional model of the first hydraulic support and the first design drawing is determined.

[0067] It should be noted here that if geometric feature recognition is performed on the first hydraulic support three-dimensional model to obtain the geometric feature information of the first hydraulic support three-dimensional model, the least squares matching algorithm or the cluster matching algorithm is used to process the geometric feature information of the first hydraulic support three-dimensional model and the geometric feature information of the object entity included in the first design drawing to obtain the geometric feature matching relationship between the first hydraulic support three-dimensional model and the first design drawing.

[0068] If geometric feature recognition is performed on the first hydraulic support three-dimensional model and no geometric feature information of the first hydraulic support three-dimensional model is obtained, a point cloud matching algorithm is used to determine a point cloud matching relationship between the first hydraulic support three-dimensional model and the first design drawing; based on the point cloud matching relationship and the drawing position information of each optical marker in the first optical marker combination included in the first design drawing on the object entity, a first position conversion relationship between the first hydraulic support three-dimensional model and the optical marker is determined; the first position information of each optical marker in the first optical marker combination on the object entity is tracked by an optical tracking system, and based on the first position information and the first position conversion relationship, a first actual posture of the first top beam 2 is determined.

[0069] It can be understood that the second actual position and posture of the second top beam 3 is determined by the same method as above.

[0070] Specifically, the calculating of the first actual position of the first top beam 2 according to the first hydraulic support three-dimensional model and the first position information, and the calculating of the second actual position of the second top beam 3 according to the second hydraulic support three-dimensional model and the second position information include:

[0071] Define in the model space of the first hydraulic support three-dimensional model, establish a first model space coordinate system with the horizontal plane as the XOY plane, the Z axis as the vertical downward, and the origin of the coordinate system as the center of mass of the first top beam 2; and establish a second model space coordinate system in the model space of the second hydraulic support three-dimensional model according to the same method, determine the first position conversion relationship between the first hydraulic support three-dimensional model and the first optical marker combination; determine the second position conversion relationship between the second hydraulic support three-dimensional model and the second optical marker combination, calculate the first actual posture of the first top beam 2 based on the first position information and the first position conversion relationship, and calculate the second actual posture of the second top beam 3 based on the second position information and the second position conversion relationship.

[0072] Specifically, the mass data of each mass element corresponding to the first hydraulic support three-dimensional model, the x, y, and z coordinate data of each mass element, and the total mass data of the first top beam 2 are obtained, and the first center of mass coordinates (x1, y1, z1) are calculated using the following formula:

[0073] x1=(Σm i x i ) / M;

[0074] y1=(Σm i y i ) / M;

[0075] z1=(Σm i z i ) / M;

[0076] Among them, m i represents the mass of each mass element of the first top beam (2), x i 、y i and z i represent the x, y and z coordinates of each mass element of the first top beam (2), Σ represents the sum of all mass elements of the first top beam (2), and M represents the total mass of the first top beam (2);

[0077] Calculate the second centroid coordinates (x2, y2, z2) using the same method.

[0078] Specifically, the first RPY Euler angle includes a first pitch angle, a first roll angle, and a first yaw angle, and the second RPY Euler angle includes a second pitch angle, a second roll angle, and a second yaw angle. Determining whether the first top beam 2 and the second top beam 3 are aligned based on the first RPY Euler angle, the first center of mass coordinate, the second RPY Euler angle, and the second center of mass coordinate includes:

[0079] Calculate the absolute value of the difference between x2 and x1, and record it as the first deviation value;

[0080] Calculate the absolute value of the difference between y2 and y1, and record it as the second deviation value;

[0081] Calculate the absolute value of the difference between z2 and z1, and record it as the third deviation value;

[0082] Calculate the absolute value of the difference between the first pitch angle and the second pitch angle, and record it as a fourth deviation value;

[0083] Calculate the absolute value of the difference between the first roll angle and the second roll angle, and record it as a fifth deviation value;

[0084] Calculate the absolute value of the difference between the first yaw angle and the second yaw angle, and record it as the sixth yaw angle;

[0085] Whether the first top beam 2 and the second top beam 3 are aligned is determined according to the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, the fifth deviation value, and the sixth deviation value.

[0086] Specifically, determining whether the first top beam 2 and the second top beam 3 are aligned according to the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, the fifth deviation value, and the sixth deviation value includes:

[0087] Determine whether the first top beam 2 and the second top beam 3 have moved into place according to the first deviation value, the second deviation value, and the third deviation value;

[0088] Determine whether the first top beam 2 and the second top beam 3 have an abnormal relative tilt according to the fourth deviation value, the fifth deviation value, and the sixth deviation value;

[0089] It is determined based on the above determination result whether the first top beam 2 and the second top beam 3 are aligned.

[0090] Specifically, determining whether the first top beam 2 and the second top beam 3 have moved into place according to the first deviation value, the second deviation value, and the third deviation value includes:

[0091] Determining whether the first deviation value is greater than or equal to a first preset threshold;

[0092] determining whether the second deviation value is greater than or equal to a second preset threshold;

[0093] determining whether the third deviation value is greater than or equal to a third preset threshold;

[0094] If the first deviation value is less than the first preset threshold value, the second deviation value is less than the second preset threshold value, and the third deviation value is less than the third preset threshold value, it is determined that the first top beam 2 and the second top beam 3 have moved into place, and a prompt signal indicating that the first top beam 2 and the second top beam 3 have moved into place is output;

[0095] If the first deviation value is greater than or equal to the first preset threshold, or the second deviation value is greater than or equal to the second preset threshold, or the third deviation value is greater than or equal to the third preset threshold; it is determined that the first top beam 2 or the second top beam 3 has not moved into place, and an alarm signal is output regarding the first top beam 2 or the second top beam 3 not moving into place.

[0096] It can be understood that if the first deviation value is greater than or equal to the first preset threshold, or the second deviation value is greater than or equal to the second preset threshold, or the third deviation value is greater than or equal to the third preset threshold, it proves that the deviation between the center of mass coordinates of the first top beam 2 and the center of mass coordinates of the second top beam 3 is too large, that is, the first top beam 2 or the second top beam 3 has not moved into place; on the contrary, it proves that the deviation between the center of mass coordinates of the first top beam 2 and the center of mass coordinates of the second top beam 3 is small, that is, the first top beam 2 and the second top beam 3 have moved into place.

[0097] Specifically, determining whether the first top beam 2 and the second top beam 3 have an abnormal relative inclination according to the fourth deviation value, the fifth deviation value, and the sixth deviation value includes:

[0098] determining whether a fourth deviation value is greater than or equal to a fourth preset threshold;

[0099] determining whether a fifth deviation value is greater than or equal to a fifth preset threshold;

[0100] determining whether a sixth deviation value is greater than or equal to a sixth preset threshold;

[0101] If the fourth deviation value is less than the fourth preset threshold value, the fifth deviation value is less than the fifth preset threshold value, and the sixth deviation value is less than the sixth preset threshold value, it is determined that the first top beam 2 and the second top beam 3 do not have an abnormal relative tilt, and a prompt signal indicating that the first top beam 2 and the second top beam 3 do not have an abnormal relative tilt is output;

[0102] If the fourth deviation value is greater than or equal to the fourth preset threshold, or the fifth deviation value is greater than or equal to the fifth preset threshold, or the sixth deviation value is greater than or equal to the sixth preset threshold, it is determined that the first top beam 2 and the second top beam 3 have an abnormal relative tilt, and an alarm signal regarding the abnormal relative tilt of the first top beam 2 and the second top beam 3 is output.

[0103] It can be understood that if the fourth deviation value is greater than or equal to the fourth preset threshold, or the fifth deviation value is greater than or equal to the fifth preset threshold, or the sixth deviation value is greater than or equal to the sixth preset threshold, it proves that the degree of inconsistency between the RPY Euler angles of the first top beam 2 and the second top beam 3 is too large, and it is determined that the first top beam 2 and the second top beam 3 have a relative abnormal tilt; otherwise, it proves that the degree of inconsistency between the RPY Euler angles of the first top beam 2 and the second top beam 3 is small, and it is determined that the first top beam 2 and the second top beam 3 have not a relative abnormal tilt.

[0104] Specifically, the determining whether the first top beam 2 and the second top beam 3 are aligned according to the above determination result, and further determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, includes:

[0105] If the first top beam 2 and the second top beam 3 move into place and the first top beam 2 and the second top beam 3 do not tilt abnormally relative to each other, it is determined that the first top beam 2 and the second top beam 3 are aligned, and then it is determined that the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, and a prompt signal about the alignment of the first top beam 2 and the second top beam 3 is output, and a prompt signal about the alignment state of the first hydraulic support and the second hydraulic support meets the requirements is output.

[0106] Specifically, the determining whether the first top beam 2 and the second top beam 3 are aligned based on the above determination result, and further determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, further includes:

[0107] If the first top beam 2 or the second top beam 3 does not move into place, or the first top beam 2 and the second top beam 3 are abnormally tilted relative to each other, it is determined that the first top beam 2 and the second top beam 3 are not aligned, and then it is determined that the moving frame alignment state of the first hydraulic support and the second hydraulic support does not meet the requirements, and an alarm signal about the misalignment of the first top beam 2 and the second top beam 3 is output, and an alarm signal about the misalignment of the moving frame alignment state of the first hydraulic support and the second hydraulic support is output.

[0108] It can be understood that the present invention realizes the accurate monitoring of the alignment status of adjacent hydraulic supports only by shooting the current frame image that contains the first optical marker combination and the second optical marker combination, and can realize the accurate monitoring of whether the top beams of adjacent hydraulic supports have moved into place and whether relative abnormal tilt occurs. It greatly simplifies the hardware system and does not require complex algorithm modeling, which greatly improves the intelligence and usability of the present invention and greatly expands the application scenarios of the present invention.

[0109] See also Figure 3 The present invention provides another embodiment, which provides a hydraulic support frame shifting and alignment status monitoring system, the hydraulic support frame shifting and alignment status monitoring system comprising:

[0110] The acquisition module 100 includes a first optical marker combination set on the first top beam 2 of the first hydraulic support, a second optical marker combination set on the second top beam 3 of the second hydraulic support, and an optical camera for capturing a current frame image containing both the first optical marker combination and the second optical marker combination at a preset time interval;

[0111] The control module 200 is used to obtain the first position information of the first optical marker combination and the second position information of the second optical marker combination using the current frame image; or to obtain the first hydraulic support three-dimensional model corresponding to the first hydraulic support, obtain the second hydraulic support three-dimensional model corresponding to the second hydraulic support, calculate the first actual posture of the first top beam 2 according to the first hydraulic support three-dimensional model and the first position information, calculate the second actual posture of the second top beam 3 according to the second hydraulic support three-dimensional model and the second position information, determine the first RPY Euler angle and the first center of mass coordinates of the first top beam 2 according to the first actual posture, determine the second RPY Euler angle and the second center of mass coordinates of the second top beam 3 according to the second actual posture, and determine whether the first top beam 2 and the second top beam 3 are aligned according to the first RPY Euler angle, the first center of mass coordinates, the second RPY Euler angle, and the second center of mass coordinates.

[0112] It should be noted here that the present invention realizes accurate monitoring of the alignment status of adjacent hydraulic supports only by shooting the current frame image that contains the first optical marker combination and the second optical marker combination, and can realize accurate monitoring of whether the top beams of adjacent hydraulic supports have moved into place and whether relative abnormal tilt has occurred. This greatly simplifies the hardware system and does not require complex algorithm modeling, which greatly improves the intelligence and usability of the present invention and greatly expands the application scenarios of the present invention.

[0113] In a preferred embodiment, the present application further provides an electronic device, comprising:

[0114] A memory; and a processor, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the method for monitoring the alignment status of the hydraulic support shifting frame is implemented. The computer device can be broadly defined as a server, a terminal, or any other electronic device with the necessary computing and / or processing capabilities. In one embodiment, the computer device may include a processor, a memory, a network interface, a communication interface, etc. connected via a system bus. The processor of the computer device can be used to provide the necessary computing, processing and / or control capabilities. The memory of the computer device may include a non-volatile storage medium and an internal memory. An operating system, a computer program, etc. may be stored in or on the non-volatile storage medium. The internal memory can provide an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface and the communication interface of the computer device can be used to connect and communicate with external devices via a network. When the computer program is executed by the processor, the steps of the method of the present invention are performed.

[0115] The present invention can be implemented as a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, causes the steps of the method of an embodiment of the present invention to be performed. In one embodiment, the computer program is distributed on a plurality of computer devices or processors coupled to a network so that the computer program is stored, accessed, and executed in a distributed manner by one or more computer devices or processors. A single method step / operation, or two or more method steps / operations, can be performed by a single computer device or processor or by two or more computer devices or processors. One or more method steps / operations can be performed by one or more computer devices or processors, and one or more other method steps / operations can be performed by one or more other computer devices or processors. One or more computer devices or processors can perform a single method step / operation, or perform two or more method steps / operations.

[0116] Those skilled in the art will appreciate that the method steps of the present invention can be performed by instructing related hardware, such as a computer device or processor, through a computer program. The computer program can be stored in a non-transitory computer-readable storage medium, and when the computer program is executed, the steps of the present invention are performed. Depending on the circumstances, any reference herein to memory, storage, database, or other media may include non-volatile and / or volatile memory. Examples of non-volatile memory include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory, magnetic tape, floppy disk, magneto-optical data storage device, optical data storage device, hard disk, solid-state disk, etc. Examples of volatile memory include random access memory (RAM), external cache memory, etc.

[0117] It can be understood that the present invention realizes the accurate monitoring of the alignment status of adjacent hydraulic supports only by shooting the current frame image that contains the first optical marker combination and the second optical marker combination, and can realize the accurate monitoring of whether the top beams of adjacent hydraulic supports have moved into place and whether relative abnormal tilt occurs. It greatly simplifies the hardware system and does not require complex algorithm modeling, which greatly improves the intelligence and usability of the present invention and greatly expands the application scenarios of the present invention.

[0118] The various technical features described above can be combined arbitrarily. Although not all possible combinations of these technical features are described, any combination of these technical features should be considered to be covered by this specification as long as such combination does not conflict.

[0119] The specific embodiments of the present invention described above do not limit the scope of protection of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A method for monitoring the alignment status of a hydraulic support, characterized in that: The hydraulic support comprises a top beam and a control module, and the method comprises: S100, arranging a plurality of hydraulic supports of the same model and specification in sequence along a working surface, marking any two adjacent hydraulic supports as a first hydraulic support and a second hydraulic support, setting a first optical marker combination on a first top beam (2) of the first hydraulic support, and setting a second optical marker combination on a second top beam (3) of the second hydraulic support; S200, during the rack moving process, using an optical camera to capture a current frame image including both the first optical marker combination and the second optical marker combination at a preset time interval, thereby obtaining first position information of the first optical marker combination and second position information of the second optical marker combination; S300, obtaining a first hydraulic support three-dimensional model corresponding to the first hydraulic support, obtaining a second hydraulic support three-dimensional model corresponding to the second hydraulic support, calculating a first actual position of the first top beam (2) according to the first hydraulic support three-dimensional model and the first position information, calculating a second actual position of the second top beam (3) according to the second hydraulic support three-dimensional model and the second position information, determining a first RPY Euler angle and a first center of mass coordinate of the first top beam (2) according to the first actual position, determining a second RPY Euler angle and a second center of mass coordinate of the second top beam (3) according to the second actual position, determining whether the first top beam (2) and the second top beam (3) are aligned according to the first RPY Euler angle, the first center of mass coordinate, the second RPY Euler angle, and the second center of mass coordinate, and further determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements.

2. The method for monitoring the alignment status of a hydraulic support according to claim 1, characterized in that: The method of calculating a first actual position and posture of the first top beam (2) according to the first hydraulic support three-dimensional model and the first position information, and calculating a second actual position and posture of the second top beam (3) according to the second hydraulic support three-dimensional model and the second position information comprises: A first model space coordinate system is established in the model space of the first hydraulic support three-dimensional model, with the horizontal plane as the XOY plane, the Z axis as the vertical downward direction, and the origin of the coordinate system as the mass center of the first top beam (2); and a second model space coordinate system is established in the model space of the second hydraulic support three-dimensional model according to the same method, and a first position conversion relationship between the first hydraulic support three-dimensional model and the first optical marker combination is determined; a second position conversion relationship between the second hydraulic support three-dimensional model and the second optical marker combination is determined, and a first actual position and posture of the first top beam (2) is calculated based on the first position information and the first position conversion relationship, and a second actual position and posture of the second top beam (3) is calculated based on the second position information and the second position conversion relationship.

3. The method for monitoring the alignment status of a hydraulic support according to claim 1, characterized in that: The first optical marker combination and the second optical marker combination both comprise at least three optical markers (4), the at least three optical markers (4) are not on the same straight line, and the distance between any two optical markers (4) in the first optical marker combination is different from the distance between any two optical markers (4) in the second optical marker combination.

4. The method for monitoring the alignment status of a hydraulic support according to claim 1, characterized in that: Obtain the mass data of each mass element corresponding to the first hydraulic support three-dimensional model, the x, y and z coordinate data of each mass element and the total mass data of the first top beam (2), and calculate the first centroid coordinates (x1, y1, z1) using the following formula: x1=(Σm i x i ) / M; y1=(Σm i y i ) / M; z1=(Σm i z i ) / M; Among them, m i represents the mass of each mass element of the first top beam (2), x i ,y i and z i Respectively represent the x, y and z coordinates of each mass element of the first top beam (2), Σ represents the sum of all mass elements of the first top beam (2), and M represents the total mass of the first top beam (2); Calculate the second centroid coordinates (x2, y2, z2) in the same way.

5. The method for monitoring the alignment status of a hydraulic support according to claim 4, characterized in that: The first RPY Euler angle includes a first pitch angle, a first roll angle and a first yaw angle, the second RPY Euler angle includes a second pitch angle, a second roll angle and a second yaw angle, and determining whether the first top beam (2) and the second top beam (3) are aligned based on the first RPY Euler angle, the first centroid coordinate, the second RPY Euler angle and the second centroid coordinate, comprises: Calculate the absolute value of the difference between x2 and x1, and record it as the first deviation value; Calculate the absolute value of the difference between y2 and y1, and record it as the second deviation value; Calculate the absolute value of the difference between z2 and z1, and record it as the third deviation value; Calculate the absolute value of the difference between the first pitch angle and the second pitch angle, and record it as a fourth deviation value; Calculate an absolute value of a difference between the first roll angle and the second roll angle, and record it as a fifth deviation value; Calculate the absolute value of the difference between the first yaw angle and the second yaw angle, and record it as the sixth yaw angle; Whether the first top beam (2) and the second top beam (3) are aligned is determined according to the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, the fifth deviation value, and the sixth deviation value.

6. The method for monitoring the alignment status of a hydraulic support according to claim 5, characterized in that: The method of determining whether the first top beam (2) and the second top beam (3) are aligned according to the first deviation value, the second deviation value, the third deviation value, the fourth deviation value, the fifth deviation value, and the sixth deviation value comprises: Determining whether the first top beam (2) and the second top beam (3) have moved into place according to the first deviation value, the second deviation value, and the third deviation value; Determining whether the first top beam (2) and the second top beam (3) have abnormal relative inclination according to the fourth deviation value, the fifth deviation value, and the sixth deviation value; Whether the first top beam (2) and the second top beam (3) are aligned is determined based on the above determination result.

7. The method for monitoring the alignment status of a hydraulic support according to claim 6, characterized in that: Determining whether the first top beam (2) and the second top beam (3) have moved into place according to the first deviation value, the second deviation value, and the third deviation value includes: Determining whether the first deviation value is greater than or equal to a first preset threshold; Determining whether the second deviation value is greater than or equal to a second preset threshold; Determining whether the third deviation value is greater than or equal to a third preset threshold; If the first deviation value is less than a first preset threshold value, the second deviation value is less than a second preset threshold value, and the third deviation value is less than a third preset threshold value, it is determined that the first top beam (2) and the second top beam (3) have moved into position, and a prompt signal is outputted regarding the first top beam (2) and the second top beam (3) having moved into position; If the first deviation value is greater than or equal to the first preset threshold, or the second deviation value is greater than or equal to the second preset threshold, or the third deviation value is greater than or equal to the third preset threshold, it is determined that the first top beam (2) or the second top beam (3) has not moved into place, and an alarm signal is outputted regarding the first top beam (2) or the second top beam (3) not moving into place.

8. The method for monitoring the alignment status of a hydraulic support according to claim 6, characterized in that: The method of determining whether the first top beam (2) and the second top beam (3) have abnormal relative inclination according to the fourth deviation value, the fifth deviation value, and the sixth deviation value comprises: Determining whether a fourth deviation value is greater than or equal to a fourth preset threshold; determining whether the fifth deviation value is greater than or equal to a fifth preset threshold; Determining whether the sixth deviation value is greater than or equal to a sixth preset threshold; If the fourth deviation value is less than the fourth preset threshold value, the fifth deviation value is less than the fifth preset threshold value, and the sixth deviation value is less than the sixth preset threshold value, it is determined that the first top beam (2) and the second top beam (3) have not been abnormally tilted relative to each other, and a prompt signal is outputted indicating that the first top beam (2) and the second top beam (3) have not been abnormally tilted relative to each other; If the fourth deviation value is greater than or equal to the fourth preset threshold value, or the fifth deviation value is greater than or equal to the fifth preset threshold value, or the sixth deviation value is greater than or equal to the sixth preset threshold value, it is determined that the first top beam (2) and the second top beam (3) have relatively abnormal tilt, and an alarm signal related to the relatively abnormal tilt of the first top beam (2) and the second top beam (3) is output.

9. The method for monitoring the alignment status of a hydraulic support according to claim 6, characterized in that: The method of determining whether the first top beam (2) and the second top beam (3) are aligned according to the above determination result, and further determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, comprises: If the first top beam (2) and the second top beam (3) move into place and the first top beam (2) and the second top beam (3) do not tilt abnormally relative to each other, it is determined that the first top beam (2) and the second top beam (3) are aligned, and further it is determined that the shifting alignment state of the first hydraulic support and the second hydraulic support meets the requirements, and a prompt signal related to the alignment of the first top beam (2) and the second top beam (3) is output, and a prompt signal related to the shifting alignment state of the first hydraulic support and the second hydraulic support meets the requirements is output.

10. The method for monitoring the alignment status of a hydraulic support according to claim 6, characterized in that: The step of determining whether the first top beam (2) and the second top beam (3) are aligned based on the above determination result, and further determining whether the alignment state of the first hydraulic support and the second hydraulic support meets the requirements, further comprises: If the first top beam (2) or the second top beam (3) does not move to the correct position, or the first top beam (2) and the second top beam (3) are abnormally tilted relative to each other, it is determined that the first top beam (2) and the second top beam (3) are not aligned, and further it is determined that the shifting alignment state of the first hydraulic support and the second hydraulic support does not meet the requirements, and an alarm signal related to the misalignment of the first top beam (2) and the second top beam (3) is output, and an alarm signal related to the misalignment of the shifting alignment state of the first hydraulic support and the second hydraulic support is output.

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