A stent moving method based on visualization and adaptive technology

Abstract

The present invention relates to the technical field of support frame shifting, and in particular to a support frame shifting method based on visualization and adaptive technology, including calculating the angle between the push cylinder and the scraper according to the collected image, judging the verticality of the push cylinder and the scraper; calculating the support center distance between the hydraulic supports, evaluating the distance between the hydraulic supports; judging the degree of crushing of the top plate, and taking corresponding measures when the hydraulic supports are moved according to the degree of crushing; detecting and calculating the height of the column and the speed of the column during the column lifting process; adaptively adjusting the frame shifting parameters according to different target parameters and environmental changes, and adjusting the speed, stroke and supporting force of the frame shifting accordingly. The present invention uses visualization and adaptive technology for the hydraulic support to achieve precise adjustment and control of the posture of the hydraulic support during the frame shifting process.

Description

Technical Field

[0001] The present invention relates to the technical field of stent shifting, and in particular to a stent shifting method based on visualization and adaptive technology. Background Art

[0002] With the rapid development of science and technology, the scale of coal mining enterprises is expanding, which puts higher requirements on their production and management. How to achieve high reliability and low risk safety production under the condition of ensuring the maximum output is a big challenge for coal mining enterprises. In terms of intelligent mining technology in coal mines, the main mining equipment of the comprehensive mining face should be highly adaptive. As one of the "three machines" of the comprehensive mining face, the hydraulic support is responsible for important support work in the mining field. The intelligence, safety and reliability of the hydraulic support are in a stage of rapid development.

[0003] Chinese Patent Publication No.: CN114562318A discloses a hydraulic support frame shifting control system and method, including: an intelligent control module and an intelligent video processing device; wherein the intelligent video processing device is integrated with an intelligent chip device and an image acquisition device; the image acquisition device is used to acquire video images within a specific range in real time and send them to the intelligent chip device; the intelligent chip device is used to process the video images in real time, identify the video images according to a pre-trained frame shifting abnormality monitoring model, acquire environmental information data and frame shifting information data and send them to the intelligent control module; the intelligent control module is used to control the adaptive movement of the hydraulic support according to the environmental information data and frame shifting information data and the corresponding frame shifting strategy; it can be seen that the hydraulic support frame shifting control system and method have the following problems: the technical solution only analyzes large pieces of coal, bottom plate water accumulation, bottom plate breakage and other situations in the abnormal environmental information, and cannot achieve precise adjustment and control of the posture during the hydraulic support frame shifting process. Summary of the invention

[0004] To this end, the present invention provides a support frame moving method based on visualization and adaptive technology to overcome the problem that the prior art only analyzes large pieces of coal, water accumulation on the bottom plate, bottom plate breakage and other situations in abnormal environmental information, and cannot achieve precise adjustment and control of the posture during the hydraulic support frame moving process.

[0005] To achieve the above object, the present invention provides a stent moving method based on visualization and adaptive technology, comprising:

[0006] Step S1, setting the camera required for visualization, collecting images of the hydraulic support and the surrounding environment, calculating the angle between the push cylinder and the scraper according to the collected images, judging the verticality of the push cylinder and the scraper; and calculating the center distance between the hydraulic supports, evaluating the distance between the hydraulic supports;

[0007] Step S2, when the top plate is stable, the hydraulic support is in the correct position, and the angle between the push cylinder and the scraper is appropriate, the hydraulic support is lowered;

[0008] Step S3, during the column lowering process, real-time identification of whether there is rock shedding and block falling from the roof, detection of the number and volume of the falling blocks, and determination of the degree of breakage of the roof;

[0009] Step S4, starting the pushing device to pull the pushing rod of the hydraulic support to move, and taking corresponding measures when the hydraulic support moves according to the degree of crushing during the movement of the hydraulic support;

[0010] Step S5, during the column raising process, after the hydraulic support moves to the set position, the hydraulic system column is started to move upward, and the height of the column and the column raising speed during the column raising process are detected and calculated;

[0011] Step S6, adaptively adjusting the rack moving parameters according to different target parameters and environmental changes, and adjusting the speed, stroke and supporting force of the rack moving accordingly.

[0012] Furthermore, the image of the push cylinder in the push device obtained by the camera using opencv edge detection is used to identify the contours of the push cylinder and the hydraulic support. The push cylinder and the hydraulic support are selected using a machine recognition algorithm, and the contours of the push cylinder and the hydraulic support are drawn. The angle between the push cylinder and the scraper and the difference between the angle and the right angle are calculated.

[0013] If the angle difference between the push cylinder and the scraper is greater than or equal to the angle difference evaluation value, it is determined that the verticality of the push cylinder and the scraper does not meet the frame shifting requirement, and an alarm message is issued to adjust the angle of the push cylinder and the scraper.

[0014] Furthermore, the images of any bracket and the adjacent bracket are obtained, and the camera distance measurement-similar triangle principle is used to compare the first camera and the second camera at multiple angles, and the distance between the top beam side guard plates of any bracket and the adjacent bracket is calculated in combination with the height sensor. The bracket center distance and the distance difference between the bracket center distance and the standard bracket center distance are calculated based on the distance between the top beam side guard plates.

[0015] If the distance difference between the bracket center distance and the standard bracket center distance is greater than the distance difference evaluation value, it is judged that the bracket spacing between any bracket and the adjacent bracket does not meet the spacing requirement, and an alarm message is issued to adjust the bracket spacing between any bracket and the adjacent bracket.

[0016] Furthermore, during the column lowering process, the roof image is obtained in real time to identify whether there is rock shedding and block falling from the roof, detect the number and volume of block falling per unit time, compare the number and volume of block falling per unit time with the standard number and volume, and calculate the number and volume difference between the number and volume of block falling and the standard number and volume.

[0017] If the number and volume of fallen blocks are less than or equal to the standard number and standard volume, and the number difference and volume difference are greater than the difference evaluation value, it is judged that the roof is relatively stable and there is no risk of breakage.

[0018] Among them, if the quantity difference and volume difference are less than or equal to the difference evaluation value, it is judged that there is a risk of roof crushing, and the roof is at the first level of crushing risk;

[0019] If the number and volume of fallen blocks are greater than the standard number and volume, and the number difference and volume difference are less than or equal to the difference evaluation value, it is judged that the roof breakage is more serious and the roof is at the secondary breakage risk level.

[0020] Among them, if the quantity difference and the volume difference are greater than the difference evaluation value, it is judged that the top plate is severely broken and the top plate is at the third level of breakage risk.

[0021] Furthermore, when the top plate is at the first level of crushing risk, the height of the column is increased to allow the upper end of the top beam of the support to contact the top plate, maintaining a certain support pressure. The height of the column is the standard height of the hydraulic support when supporting the top plate. The support pressure is negatively correlated with the quantity difference and the volume difference. When the pressure reaches the preset value, the pushing device is started, and the hydraulic support is pulled toward the working surface by the action of the hydraulic cylinder.

[0022] When the top plate is at the secondary crushing risk level, the initial pushing speed of the pushing device is increased according to the ratio of the number and volume of the falling blocks to the standard number and standard volume;

[0023] When the top plate is severely broken and at the third level of risk of breaking, the initial pushing speed of the pushing device is increased while the moving distance of the pulling frame is reduced.

[0024] Furthermore, the theoretical moving speed of the moving device after adjustment is calculated, and the theoretical moving speed is compared with the actual moving speed. The actual moving speed is the maximum moving speed of the moving device.

[0025] If the actual pushing speed is less than the theoretical pushing speed, it is determined that the theoretical pushing speed cannot meet the demand for adjusting the pushing speed. The pushing device pulls the frame at the maximum pushing speed and reduces the moving distance of the frame. The degree of reduction in the moving distance is positively correlated with the ratio of the difference between the actual pushing speed and the theoretical pushing speed to the initial pushing speed.

[0026] Among them, if the adjusted moving distance is less than the minimum value of the rack moving distance, it is judged that the adjusted rack moving distance exceeds the adjustment range of the rack moving distance, the rack moving distance is adjusted to the minimum value, and the supporting pressure of the upper end of the top beam on the top plate is increased.

[0027] Furthermore, the height of the column during the column raising process is obtained in real time, and the column raising height is compared with the standard height.

[0028] If the column height is less than the standard height, it is judged that the column height has not reached the standard height, and the column raising operation continues;

[0029] If the height of the column is greater than the standard height, it is judged that the height of the column exceeds the standard height and the column raising operation is stopped;

[0030] Furthermore, the actual column raising speed is calculated based on the column raising height and the column raising time, and the speed difference between the actual column raising speed and the initial rising speed is calculated. If the speed difference is greater than the speed difference evaluation value, it is judged that the column rising speed has obviously slowed down or stagnated, and there is a problem with the hydraulic system, and an early warning signal is issued.

[0031] Furthermore, the particle swarm algorithm is used to solve the optimal transition posture with the shortest "lowering-moving-lifting" time with the total time of lowering and lifting the frame as the objective function, and then the action sequence and extension amount of the column and the balancing jack are obtained, the initial column lowering speed and the initial column lifting speed of the hydraulic support and the initial pushing speed of the pushing device are obtained. This method can obtain the most suitable initial action duration of lowering, moving and lifting the frame.

[0032] Furthermore, the pressure sensor on the top beam is used to detect the roof pressure of the hydraulic support in real time, and the contact status between the top beam and the top plate is judged. Before the support is connected to the top, a position control loop is used to control the rapid rise of the column with the detected column height as a control parameter, so as to realize the rapid lifting of the hydraulic support; when the top beam contacts the top plate, the fuzzy switching controller automatically switches to a pressure control loop, and the column is converted from rapid rise to stable rise, so as to realize the stable connection of the hydraulic support to the top;

[0033] When the roof pressure increases, the supporting force provided by the hydraulic system in the support is increased according to the roof pressure; the environmental image is filtered, edge detected, and texture analyzed using image processing algorithms, and the frame moving speed is reduced when a geological fault appears in front of the support, and an alarm signal is issued.

[0034] Compared with the prior art, the beneficial effect of the present invention is that the pushing cylinder needs to be perpendicular to the scraper. If the angle of the pushing cylinder is not calculated in preparation for the later frame pulling, there is a risk of inference of the cross pin; the support center distance management is the core of the working surface straightness management. A good center distance can reduce the lateral force of the support during the frame pulling process, and use visualization technology to distinguish the main board and side guard plate on the top beam side of the support, as well as the side guard plates and main boards of the left and right sides of the support, and draw lines on the main board and side guard plate on the top beam side respectively, and calculate the distance between the top beam side guard plates, which can prevent roof leakage accidents and provide data support for roof management and the frame pulling process.

[0035] Furthermore, during the column lowering process, when the top beam is separated from the top plate, there is a phenomenon of rock shedding and falling blocks on the top plate. Frequent small-area falling blocks or large-area rock collapses indicate that the top plate is unstable. The degree of top plate breakage is judged based on the number and volume of falling blocks, thereby improving the foresight of risk control during the movement of the hydraulic support.

[0036] Furthermore, if different measures are not taken according to the roof crushing situation, the roof will face the risk of collapse, seriously affecting the safety of work; the top moving frame with pressure rubbing can reduce the exposed area of ​​the roof and avoid further crushing and roof collapse. When the roof crushing situation is serious, the frame pulling operation is accelerated to shorten the time when the roof is unsupported. When the roof crushing situation is serious, the frame pulling operation is accelerated while reducing the moving distance of the frame to enhance the control of the roof, and the limits of the corresponding parameters are judged and adjusted according to the maximum pushing speed and the minimum moving distance, which further improves the accuracy of the support movement process.

[0037] Furthermore, when the column raising height does not reach the preset standard, an alarm will be automatically issued or the column raising action will be adjusted to avoid insufficient support; if the column is raised too high, it may cause excessive pressure on the roof, and the system will automatically stop the column raising operation; if it is recognized that the column rising speed has slowed down or stagnated significantly, it may mean that there is a problem with the hydraulic system. The system will immediately issue an early warning to the operator so that timely maintenance can be carried out to reduce the time of production interruption; the column raising data during multiple frame moving processes will be analyzed to summarize the optimal column raising speed, height and other parameters, thereby optimizing the entire frame moving operation process and improving work efficiency.

[0038] Furthermore, by switching the control mode, the hydraulic support is prevented from impacting the tunnel roof when it is connected to the roof. When the roof pressure suddenly increases, the adaptive system will quickly increase the support force of the support to prevent the roof from collapsing. When the visualization system shows that a geological fault appears in front of the support, the adaptive system will automatically reduce the speed of the support movement and enhance the stability of the support, while issuing an alarm to the operator, thereby improving the response speed of parameter adjustment and the degree of automation of the support movement process. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1A flowchart of the steps of a stent moving method based on visualization and adaptive technology in an embodiment of the present invention;

[0040] Figure 2 It is a schematic diagram of the motion relationship of three fully mechanized mining machines in an embodiment of the present invention;

[0041] Figure 3 It is a structural schematic diagram of a hydraulic support applicable to a support shifting method based on visualization and adaptive technology in an embodiment of the present invention;

[0042] Figure 4 A flowchart of the steps of adjusting the rack shifting parameters in the rack shifting process according to the degree of top plate crushing in an embodiment of the present invention;

[0043] In the figure: 1-hydraulic support, 2-scraper, 3-coal mining machine, 4-coal seam, 11-guard plate, 12-front beam, 13-top beam, 14-shielding beam, 15-connecting rod, 16-base, 17-pushing device, 18-column, 191-top plate camera, 192-front column camera. DETAILED DESCRIPTION

[0044] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0045] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the protection scope of the present invention.

[0046] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0047] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0048] See also Figure 1 As shown, Figure 1A flowchart of the steps of a stent moving method based on visualization and adaptive technology in an embodiment of the present invention; Figure 2 It is a schematic diagram of the motion relationship of three fully mechanized mining machines in an embodiment of the present invention; Figure 3 It is a structural schematic diagram of a hydraulic support applicable to a support shifting method based on visualization and adaptive technology in an embodiment of the present invention; Figure 4 This is a flow chart of the steps of adjusting the rack shifting parameters during the rack shifting process according to the degree of top plate crushing in an embodiment of the present invention.

[0049] The present invention provides a stent moving method based on visualization and adaptive technology, comprising:

[0050] Step S1: Setting the camera required for visualization, collecting images of the hydraulic support 1 and the surrounding environment, calculating the angle between the push cylinder and the scraper 2 according to the collected images, judging the verticality of the push device 17 and the scraper 2; and calculating the support center distance between the hydraulic supports 1, and evaluating the distance between the hydraulic supports 1;

[0051] Multiple cameras collect environmental images around the support in real time to form continuous video stream data, and pre-process the collected images to improve the accuracy of subsequent analysis. The pre-processing includes denoising, image enhancement and image filtering and dust removal; denoising, using Gaussian filtering to remove noise in the image; image enhancement, using histogram equalization to enhance the contrast of the image; image filtering, dust removal and feature enhancement algorithm, the coal mining face is dusty and foggy, and the collected pictures are optimized for visual image filtering and dust removal.

[0052] A wide-angle front-column camera with a focal length of 2.8 mm and a viewing angle of 120 degrees is set on the front column of the support 1 m above the ground facing the coal wall. The front-column camera is used to photograph the front guard plate 11 of the support, the pushing cylinder of the telescopic beam, the top of the support, the coal mining machine 3 passing in front of the hydraulic support 1, the scraper 2 facing it, and the pushing device 17, while performing auxiliary monitoring of the left and right side supports of the support, including real-time monitoring of the side guard plates of the left and right side supports.

[0053] A wide-angle roof camera with a focal length of 2.8 mm and a viewing angle of 120 degrees is set above the support top beam 13. The roof camera is used to shoot the lower part of the support, including the amount of coal on the scraper 2 directly below the support base 16, monitor the support bottom lifting and column lowering process, and monitor the bottom plates of the left and right side supports at the same time.

[0054] Use opencv edge detection to obtain the image of the pushing device 17 in the pushing device 17 by the camera, perform contour recognition on the pushing device 17 and the hydraulic support 1, use machine recognition algorithm to select the pushing device 17 and the hydraulic support 1, draw the contours of the pushing device 17 and the hydraulic support 1, calculate the angle θ1 between the pushing device 17 and the scraper 2, and the absolute value of the angle difference between the angle and ninety degrees,

[0055] If the angle difference between the push device and the scraper is greater than or equal to the angle difference evaluation value, it is determined that the angle difference between the push device and the scraper is too large, and an alarm message is issued to adjust the angle between the push device and the scraper;

[0056] The angle difference between the push device and the scraper is evaluated as the hydraulic support push angle error value;

[0057] Get the image of any bracket and the adjacent bracket, use the camera distance measurement-similar triangle principle, compare the top plate camera 191 and the front pillar camera 192 at multiple angles, and calculate the distance between the top beam side guard plates of any bracket and the adjacent bracket in combination with the height sensor. Calculate the bracket center distance and the absolute value of the difference between the bracket center distance and the standard bracket center distance based on the distance between the top beam side guard plates.

[0058] If the distance difference between the center distance of the bracket and the center distance of the standard bracket is greater than the distance difference evaluation value, it is determined that the bracket spacing between any bracket and the adjacent bracket does not meet the spacing requirement, and an alarm message is issued to adjust the bracket spacing between any bracket and the adjacent bracket;

[0059] The distance difference evaluation value of the bracket center distance is the distance error value. The bracket center distance is usually matched with the middle trough length of the scraper conveyor, which is usually 1.5m.

[0060] Specifically, the pushing device needs to be perpendicular to the scraper. If the angle of the pushing device is not calculated in preparation for the later frame pulling, there is a risk of inference of the cross pin; the center distance management of the bracket is the core of the straightness management of the working surface. A good center distance can reduce the lateral force of the bracket during the frame pulling process. The visualization technology is used to distinguish the main board and side guard plate on the top beam side of the bracket, as well as the side guard plates and main boards of the left and right brackets, and the main board and side guard plates on the top beam side are marked respectively. The distance between the top beam side guard plates is calculated to prevent roof leakage accidents and provide data support for roof management and the frame pulling process.

[0061] Step S2, when the top plate is stable, the hydraulic support 1 is in the correct position, and the angle between the pushing device 17 and the scraper 2 is appropriate, the hydraulic support 1 is lowered;

[0062] Retract the telescopic beam and the guard plate 11, start the hydraulic pump station to provide pressure for the hydraulic system, open the control valve, let the high-pressure oil enter the hydraulic cylinder of the column 18, push the piston to retract, the column 18 starts to drop, and the top beam 13 is pulled away from the tunnel roof by the column 18;

[0063] Step S3, during the column lowering process, real-time identification of whether there is rock shedding and block falling on the roof, detection of the number and volume of the fallen blocks, and determination of the degree of breakage of the roof;

[0064] During the column lowering process, the roof image is obtained in real time to identify whether there is rock shedding and falling blocks on the roof, and the number n1 and volume of falling blocks per unit time are detected. The number and volume of falling blocks per unit time are compared with the standard number and volume, and the quantitative and volume differences between the number and volume of falling blocks and the standard number and volume are calculated to determine the degree of roof breakage.

[0065] If the number and volume of fallen blocks are less than or equal to the standard number and standard volume, and the number difference and volume difference are greater than the difference evaluation value, it is judged that the roof is relatively stable and there is no risk of breakage.

[0066] If the quantity difference and the volume difference are less than or equal to the difference evaluation value, it is judged that the roof is not stable and there is a certain risk of breakage, and the roof is at the first level of breakage risk;

[0067] If the number and volume of fallen blocks are greater than the standard number and volume, and the number difference and volume difference are less than or equal to the difference evaluation value, it is judged that the roof breakage is more serious and the roof is at the secondary breakage risk level.

[0068] If the quantity difference and the volume difference are greater than the difference evaluation value, it is judged that the roof is severely broken and the roof is at the third level of breakage risk;

[0069] The difference evaluation value is a preset value.

[0070] Specifically, during the column lowering process, when the top beam is separated from the top plate, there is a phenomenon of rock shedding and falling blocks on the top plate. Frequent small-area falling blocks or large-area rock collapses indicate that the top plate is unstable. The degree of top plate breakage is judged based on the number and volume of falling blocks to improve the foresight of risk control during the movement of the hydraulic support.

[0071] Step S4, starting the pushing device 17 to pull the pushing rod of the hydraulic support 1 to move, and taking corresponding measures when the hydraulic support 1 moves according to the degree of crushing;

[0072] When the top plate is at the first level of crushing risk, the height of the column 18 is increased to allow the upper end of the top beam 13 of the support to contact the top plate to maintain a certain supporting pressure. The height of the column 18 is the standard height of the hydraulic support 1 when supporting the top plate. The supporting pressure is negatively correlated with the quantity difference and the volume difference. In this embodiment, the initial supporting force of the top plate moving frame with pressure is 25.2MPa.

[0073] When the pressure reaches a preset value, the pushing device 17 is activated, and the hydraulic support 1 is pulled toward the working surface by the action of the hydraulic cylinder.

[0074] When the top plate is at the secondary crushing risk level, the initial pushing speed of the pushing device 17 is increased according to the ratio of the number and volume of the falling blocks to the standard number and standard volume;

[0075] When the roof is severely broken and at the third level of risk, the theoretical pushing speed of the adjusted pushing device 17 is calculated, and the actual pushing speed is compared with the theoretical pushing speed. The actual pushing speed is the maximum pushing speed of the pushing device 17.

[0076] If the actual pushing speed is less than the theoretical pushing speed, it is determined that the actual pushing speed cannot meet the requirement of adjusting the pushing speed, and the pushing device 17 pulls the frame at the maximum pushing speed and reduces the moving distance of the frame. The reduction degree of the moving distance is positively correlated with the ratio of the difference between the actual pushing speed and the theoretical pushing speed to the initial pushing speed.

[0077] If the adjusted moving distance is less than the minimum value of the rack moving distance, it is determined that the adjusted rack moving distance exceeds the adjustment range of the rack moving distance, the rack moving distance is adjusted to the minimum value, and the supporting pressure of the upper end of the top beam 13 on the top plate is increased according to the distance difference between the rack moving distance and the minimum value of the rack moving distance and the speed difference between the actual pushing speed and the theoretical pushing speed, and the increased supporting pressure is positively correlated with the ratio of the speed difference to the initial pushing speed, and negatively correlated with the ratio of the distance difference to the initial moving distance;

[0078] Specifically, if different measures are not taken according to the roof crushing situation, the roof will face the risk of collapse, seriously affecting the safety of work; the top moving frame with pressure rubbing can reduce the exposed area of ​​the roof and avoid further crushing and roof collapse. When the roof crushing situation is serious, the frame pulling operation is accelerated to shorten the time when the roof is unsupported. When the roof crushing situation is serious, the frame pulling operation is accelerated while reducing the moving distance of the frame to enhance the control of the roof, and the limits of the corresponding parameters are judged and adjusted according to the maximum pushing speed and the minimum moving distance, which further improves the accuracy of the support movement process.

[0079] Step S5, after the hydraulic support 1 moves to the set position, the hydraulic system is started, the column 18 moves upward, and the height and the lifting speed of the column 18 during the lifting process are detected and calculated;

[0080] After the hydraulic support 1 moves to the set position, the hydraulic pump station is started to provide pressure for the hydraulic system, and the control valve is opened to allow high-pressure oil to enter the hydraulic cylinder of the column 18. As the high-pressure oil enters, the hydraulic cylinder piston extends, pushing the column 18 to move upward, restoring the support for the top plate, and realizing the column lifting.

[0081] The height of the column 18 during the column raising process is obtained in real time, and the column raising height is compared with the standard height.

[0082] If the column height is less than the standard height, it is judged that the column height has not reached the standard height, and the column raising operation continues;

[0083] If the height of the column is greater than the standard height, it is judged that the height of the column exceeds the standard height and the column raising operation is stopped;

[0084] The actual column raising speed is calculated according to the column raising height and the column raising time, and the speed difference between the actual column raising speed and the initial rising speed is calculated. If the speed difference is greater than the speed difference evaluation value, it is judged that the rising speed of the column 18 is obviously slowed down or stagnant, and an early warning signal is issued, wherein the speed difference evaluation value is a preset speed error value;

[0085] Specifically, when the column raising height does not reach the preset standard, an alarm will be automatically issued or the column raising action will be adjusted to avoid insufficient support; if the column is raised too high, it may cause excessive pressure on the roof, and the system will automatically stop the column raising operation; if it recognizes that the column rising speed has slowed down or stagnated significantly, it may mean that there is a problem with the hydraulic system. The system will immediately issue an early warning to the operator so that timely maintenance can be carried out to reduce the time of production interruption; the column raising data during multiple frame moving processes are analyzed to summarize the optimal column raising speed, height and other parameters, thereby optimizing the entire frame moving operation process and improving work efficiency.

[0086] Step S6, adaptively adjusting the rack moving parameters according to different target parameters and environmental changes, and adjusting the speed, stroke and supporting force of the rack moving accordingly;

[0087] Using the particle swarm algorithm, taking the total time of lowering and raising the frame as the objective function, the optimal transition posture with the shortest "lowering-moving-lifting" time is solved, and then the action sequence and extension amount of the column 18 and the balance jack are obtained, and the column lowering speed and column raising speed of the hydraulic support 1 and the pushing speed of the pushing device 17 are obtained. Through this method, the most suitable (shortest) initial action duration of "lowering-moving-lifting" is obtained;

[0088] The pressure sensor on the top beam 13 is used to detect the top plate pressure on the hydraulic support 1 in real time, and the contact status between the top beam 13 and the top plate is determined. Before the support is connected to the top, a position control loop is used to control the rapid rise of the column 18 using the detected height as a control parameter, so that the hydraulic support 1 can be quickly raised. When the top beam 13 contacts the top plate, the fuzzy switching controller automatically switches to a pressure control loop, and the column 18 is converted from rapid rise to stable rise, so that the hydraulic support 1 can be smoothly connected to the top.

[0089] When the roof pressure increases, the supporting force provided by the hydraulic system in the support is increased according to the roof pressure; the environmental image is filtered, edge detected, and texture analyzed using image processing algorithms, and the frame moving speed is reduced when a geological fault appears in front of the support, and an alarm signal is issued.

[0090] Specifically, by switching the control mode, the hydraulic support is prevented from impacting the tunnel roof when it is connected to the roof. When the roof pressure suddenly increases, the adaptive system will quickly increase the support force of the support to prevent the roof from collapsing. When the visualization system shows that a geological fault appears in front of the support, the adaptive system will automatically reduce the speed of the support movement and enhance the stability of the support, while issuing an alarm to the operator, thereby improving the response speed of parameter adjustment and the degree of automation of the support moving process.

[0091] So far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it is easy for those skilled in the art to understand that the protection scope of the present invention is obviously not limited to these specific embodiments. Without departing from the principle of the present invention, those skilled in the art can make equivalent changes or substitutions to the relevant technical features, and the technical solutions after these changes or substitutions will fall within the protection scope of the present invention.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for moving a stent based on visualization and adaptive technology, characterized in that: include: Step S1, setting the camera required for visualization, collecting images of the hydraulic support and the surrounding environment, calculating the angle between the push device and the scraper according to the collected images, judging the verticality of the push device and the scraper; and calculating the center distance between the hydraulic supports, evaluating the distance between the hydraulic supports; Step S2: when the top plate is stable, the hydraulic support is in the correct position, and the angle between the pushing device and the scraper is appropriate, the hydraulic support is lowered; Step S3, during the column lowering process, real-time identification of whether there is rock shedding and block falling on the roof, detection of the number and volume of the fallen blocks, and determination of the degree of breakage of the roof; Step S4, starting the pushing device to pull the pushing rod of the hydraulic support to move, and taking corresponding measures when the hydraulic support moves according to the degree of crushing; Step S5, after the hydraulic support moves to the set position, the hydraulic system is started, the column moves upward, and the height and the lifting speed of the column during the lifting process are detected and calculated; Step S6, adaptively adjusting the rack moving parameters according to different target parameters and environmental changes, and adjusting the speed, stroke and supporting force of the rack moving accordingly.

2. The method for stent shifting based on visualization and adaptive technology according to claim 1, characterized in that: The process of calculating the angle between the push device and the scraper according to the collected image and judging the verticality between the push device and the scraper includes: The image of the pushing device acquired by the camera is edge detected, the outlines of the pushing device and the hydraulic support are identified, the pushing device and the hydraulic support are framed by a machine recognition algorithm, and the outlines of the pushing device and the hydraulic support are drawn, and the angle between the pushing device and the scraper and the difference between the angle and the right angle are calculated. If the angle difference between the push device and the scraper is greater than or equal to the angle difference evaluation value, it is determined that the verticality of the push device and the scraper does not meet the frame shifting requirement, and an alarm message is issued to adjust the angle between the push device and the scraper.

3. The method for stent shifting based on visualization and adaptive technology according to claim 2, characterized in that: The process of calculating the support center distance between the hydraulic supports and evaluating the distance between the hydraulic supports includes: Get the image of any bracket and the adjacent bracket, use the camera distance measurement-similar triangle principle, compare the front beam camera and the column camera at multiple angles, and calculate the distance between the top beam side guard plate of any bracket and the adjacent bracket in combination with the height sensor. Calculate the bracket center distance and the distance difference between the bracket center distance and the standard bracket center distance based on the distance between the top beam side guard plates. If the distance difference between the bracket center distance and the standard bracket center distance is greater than the distance difference evaluation value, it is judged that the bracket spacing between any bracket and the adjacent bracket does not meet the spacing requirement, and an alarm message is issued to adjust the bracket spacing between any bracket and the adjacent bracket.

4. The method for stent shifting based on visualization and adaptive technology according to claim 3, characterized in that: The process of judging the degree of crushing of the roof comprises: During the column lowering process, the roof image is acquired in real time to identify whether there is rock shedding and falling blocks on the roof, detect the number and volume of falling blocks per unit time, compare the number and volume of falling blocks per unit time with the standard number and volume, and calculate the number and volume difference between the number and volume of falling blocks and the standard number and volume. If the number and volume of fallen blocks are less than or equal to the standard number and standard volume, and the number difference and volume difference are greater than the difference evaluation value, it is judged that the roof is relatively stable and there is no risk of breakage. Among them, if the quantity difference and volume difference are less than or equal to the difference evaluation value, it is judged that there is a risk of roof crushing, and the roof is at the first level of crushing risk; If the number and volume of fallen blocks are greater than the standard number and volume, and the number difference and volume difference are less than or equal to the difference evaluation value, it is judged that the roof breakage is more serious and the roof is at the secondary breakage risk level. Among them, if the quantity difference and the volume difference are greater than the difference evaluation value, it is judged that the top plate is severely broken and the top plate is at the third level of breakage risk.

5. The method for stent shifting based on visualization and adaptive technology according to claim 4, characterized in that: The process of taking appropriate measures when the hydraulic support is moved according to the degree of crushing includes: With pressure-rubbing top moving frame, when the top plate is at the first level of crushing risk, by increasing the height of the column, the upper end of the top beam of the support is allowed to contact the top plate to maintain a certain supporting pressure. The height of the column is the standard height of the hydraulic support when supporting the top plate. The supporting pressure is negatively correlated with the quantity difference and the volume difference. When the pressure reaches the preset value, the pushing device is started, and the hydraulic support is pulled toward the working surface by the action of the hydraulic cylinder; When the top plate is at the secondary crushing risk level, the initial pushing speed of the pushing device is increased according to the ratio of the number and volume of the falling blocks to the standard number and standard volume; When the top plate is severely broken and at the third level of risk of breaking, the initial pushing speed of the pushing device is increased while the moving distance of the pulling frame is reduced.

6. The method for stent shifting based on visualization and adaptive technology according to claim 5, characterized in that: The process of reducing the moving distance of the pull frame comprises: The theoretical moving speed of the moving device after adjustment is calculated, and the theoretical moving speed is compared with the actual moving speed, where the actual moving speed is the maximum moving speed of the moving device. If the actual pushing speed is less than the theoretical pushing speed, it is determined that the theoretical pushing speed cannot meet the demand for adjusting the pushing speed. The pushing device pulls the frame at the maximum pushing speed and reduces the moving distance of the frame. The degree of reduction in the moving distance is positively correlated with the ratio of the difference between the actual pushing speed and the theoretical pushing speed to the initial pushing speed. Among them, if the adjusted moving distance is less than the minimum value of the rack moving distance, it is judged that the adjusted rack moving distance exceeds the adjustment range of the rack moving distance, the rack moving distance is adjusted to the minimum value, and the supporting pressure of the upper end of the top beam on the top plate is increased.

7. The method for stent shifting based on visualization and adaptive technology according to claim 6, characterized in that: The process of detecting and calculating the height of the column and the column raising speed during the column raising process comprises: Obtain the height of the column in real time during the column raising process, and compare the column raising height with the standard height. If the column height is less than the standard height, it is judged that the column height has not reached the standard height, and the column raising operation continues; If the column raising height is greater than the standard height, it is judged that the column raising height exceeds the standard height and the column raising operation is stopped.

8. The method for stent shifting based on visualization and adaptive technology according to claim 7, characterized in that: The process of detecting and calculating the height of the column and the column raising speed during the column raising process also includes: The actual column raising speed is calculated based on the column raising height and the column raising time, and the speed difference between the actual column raising speed and the initial rising speed is calculated. If the speed difference is greater than the speed difference evaluation value, it is judged that the column rising speed has obviously slowed down or stagnated, and there is a problem with the hydraulic system, and an early warning signal is issued.

9. The method for stent shifting based on visualization and adaptive technology according to claim 8, characterized in that: The process of adaptively adjusting the rack shifting parameters according to the target parameters includes: The particle swarm algorithm is used to take the total time of lowering and lifting as the objective function to solve the optimal transition posture with the shortest "lowering-moving-lifting" time, and then the action sequence and extension amount of the column and the balance jack are obtained, the initial column lowering speed and initial column lifting speed of the hydraulic support and the initial pushing speed of the pushing device are obtained. Through this method, the most suitable initial action duration of lowering, moving and lifting is obtained.

10. The method for stent shifting based on visualization and adaptive technology according to claim 9, characterized in that: The process of adaptively adjusting the speed, travel and support force of the rack according to environmental changes includes: The pressure sensor on the top beam is used to detect the top plate pressure on the hydraulic support in real time to determine the contact status between the top beam and the top plate. Before the support is connected to the top, a position control loop is used to control the rapid rise of the column using the detected column height as a control parameter to achieve rapid lifting of the hydraulic support; when the top beam contacts the top plate, the fuzzy switching controller automatically switches to a pressure control loop, and the column changes from rapid rise to stable rise, achieving stable top contact of the hydraulic support; When the roof pressure increases, the supporting force provided by the hydraulic system in the support is increased according to the roof pressure; the environmental image is filtered, edge detected, and texture analyzed using image processing algorithms, and the frame moving speed is reduced when a geological fault appears in front of the support, and an alarm signal is issued.

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