Control method and control device for straightening hydraulic support

Abstract

The invention provides a control method and a control device for straightening hydraulic supports. The control method comprises the following steps: acquiring a straightness fitting curve of the hydraulic supports on the basis of absolute coordinate values of all the hydraulic supports on a fully mechanized coal mining face; the deviation between the straightness fitting curve and an alignment datum line is determined; and when the deviation meets the preset condition, straightening operation is conducted on the deviated hydraulic support based on the straightening control parameters. The straightness fitting curve is determined on the basis of the absolute coordinate values of all the hydraulic supports on the fully-mechanized coal mining face, a more accurate reference is formed for subsequent straightening operation, the possibility of introducing original errors is reduced, meanwhile, the absolute coordinates are introduced into the fully-mechanized coal mining face, the straightness of the working face is guaranteed, and meanwhile the straightness of the working face is improved. And the perpendicularity of the working face and the roadway is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of working status monitoring of intelligent fully mechanized mining equipment in underground coal mines, and in particular to a control method and a control device for straightening a hydraulic support. Background Art

[0002] The fully mechanized mining face of a coal mine is usually composed of a coal mining machine, a scraper, and numerous hydraulic supports arranged in parallel. The scraper includes multiple sections, and each hydraulic support is connected to one of the sections of the scraper through a push rod. Air intake tunnels and return air tunnels are provided on both sides of the working face, and the air intake tunnels and return air tunnels are arranged parallel to each other.

[0003] The fully mechanized coal mining face needs to meet the "three straights and two flats" during the mining process to ensure the efficiency and safety of the coal mining process. Among them, "three straights" refers to the straightness of the coal wall, the straightness of the hydraulic support and the straightness of the scraper, and "two flats" refers to the flatness of the top plate and the bottom plate of the working face. Regarding the straightness detection and straightening of the fully mechanized coal mining face, the existing technologies mainly include the following methods: (1) traditional manual rope pulling and manual control straightening; (2) coal mining machine equipped with fiber optic inertial navigation equipment for motion trajectory detection; (3) straightness measurement by laser or vision; (4) straightening based on hydraulic support installation positioning equipment.

[0004] With regard to the straightening scheme based on the hydraulic support installation positioning equipment, the prior art includes straightening the working surface through a relative coordinate system and straightening the working surface through an absolute coordinate system. For the scheme of straightening the working surface through an absolute coordinate system, the straightening operation is not accurate enough. Summary of the invention

[0005] The present disclosure aims to at least solve the technical problem in the prior art that the straightening solution based on the hydraulic support installation positioning equipment and the solution of straightening the working surface through the absolute coordinate system have insufficient straightening operation accuracy.

[0006] To this end, one object of the present disclosure is to provide a control method for straightening a hydraulic support, the control method comprising:

[0007] Obtaining a straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface;

[0008] Determining the deviation between the straightness fitting curve and the straightening reference line;

[0009] When the deviation meets a predetermined condition, the hydraulic support with the deviation is straightened based on the straightening control parameter.

[0010] In some embodiments, the step of obtaining the straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface includes:

[0011] Perform initial state calibration on all hydraulic supports to obtain initial calibration results;

[0012] Determining the absolute coordinate values ​​of all the hydraulic supports based on the initial calibration results;

[0013] Acquire a displacement value of each of the hydraulic supports based on the initial calibration result and the absolute coordinate value;

[0014] A straightness fitting curve of the hydraulic support is determined based on the displacement values ​​of all the hydraulic supports.

[0015] In some embodiments, the initial calibration result includes at least the relative coordinate value of each hydraulic support, the posture data of the hydraulic support, and the posture relationship between adjacent hydraulic supports.

[0016] In some embodiments, determining the absolute coordinate values ​​of all the hydraulic supports based on the initial calibration results includes:

[0017] Obtaining the relative coordinate value of the predetermined hydraulic support;

[0018] Converting the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value;

[0019] Based on the absolute coordinate value of the predetermined hydraulic support, the posture data of the predetermined hydraulic support and the posture relationship between adjacent hydraulic supports, the absolute coordinate values ​​of other hydraulic supports are acquired in sequence.

[0020] In some embodiments, converting the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value includes:

[0021] Acquire depth image information in the lane through a depth camera;

[0022] Acquiring absolute coordinate information of the lane based on the depth image information;

[0023] Converting the relative coordinate value of the depth camera installation position into an absolute coordinate value based on the absolute coordinate information;

[0024] The relative coordinate value of the hydraulic support is converted into an absolute coordinate value based on the absolute coordinate value of the installation position of the depth camera and the posture data of the predetermined hydraulic support.

[0025] In some embodiments, determining the deviation between the straightness fitting curve and the straightening reference line includes:

[0026] Determine the straightening baseline and the straightening reference object;

[0027] A hydraulic support for determining characteristic points and deviations corresponding to the characteristic points based on the straightness fitting curve and the straightening reference line;

[0028] The deviation value of the deviated hydraulic support relative to the straightening reference line is determined based on the distance between the characteristic point and the straightening reference line.

[0029] In some embodiments, in the determining of the straightening reference line and the straightening reference object, the straightening reference line is determined based on one of the following hydraulic supports:

[0030] The most advanced hydraulic support, the most backward hydraulic support, the middle hydraulic support, the end hydraulic support, and the tail hydraulic support.

[0031] In some embodiments, in determining the straightening reference line and the straightening reference object, the straightening reference object is the straightness at the scraper or the straightness at the hydraulic support.

[0032] In some embodiments, when the deviation satisfies a predetermined condition, the motion control of the hydraulic support with the deviation is performed based on the straightening control parameter, including:

[0033] When the deviation value is positive, an automatic machine following process is used to perform a straightening operation on the deviated hydraulic support based on the deviation value in the current tool program;

[0034] When the deviation value is a negative value, a straightening operation is performed on the deviated hydraulic support based on the deviation value in the next cutting procedure.

[0035] Another object of the present disclosure is to provide a control device for straightening a hydraulic support, which uses the above-mentioned control method for straightening a hydraulic support, including:

[0036] An acquisition module is used to acquire a straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface;

[0037] A determination module, used to determine the deviation between the straightness fitting curve and the straightening reference line;

[0038] The control module is used to perform a straightening operation on the hydraulic support with the deviation based on the straightening control parameter when the deviation meets the predetermined condition.

[0039] The control method and control device for straightening a hydraulic support provided by the embodiments of the present disclosure have the following beneficial effects:

[0040] The present invention obtains the straightness fitting curve of the hydraulic support based on the absolute coordinate values ​​of all the hydraulic supports on the comprehensive mining working surface; determines the deviation between the straightness fitting curve and the straightening reference line; when the deviation meets the predetermined conditions, the hydraulic support with the deviation is straightened based on the straightening control parameter. By determining that the straightness fitting curve is obtained based on the absolute coordinate values ​​of all the hydraulic supports on the comprehensive mining working surface, a more accurate reference is formed for subsequent straightening operations, reducing the possibility of introducing original errors. At the same time, absolute coordinates are introduced in the comprehensive mining working surface to ensure the straightness of the working surface while improving the verticality of the working surface and the lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0042] Figure 1 is a schematic diagram of the steps of a control method for straightening a hydraulic support in an embodiment of the present disclosure;

[0043] Figure 2 is a schematic diagram of the steps of a control method for straightening a hydraulic support in an embodiment of the present disclosure;

[0044] Figure 3 is a schematic diagram of the steps of a control method for straightening a hydraulic support in an embodiment of the present disclosure;

[0045] Figure 4 is a schematic diagram of the steps of a control method for straightening a hydraulic support in an embodiment of the present disclosure;

[0046] Figure 5 is a schematic top view of a hydraulic support in an embodiment of the present disclosure;

[0047] Figure 6 It is a schematic diagram of the state of a fully mechanized mining face in a pushing and sliding process in a control method for straightening a hydraulic support in an embodiment of the present disclosure;

[0048] Figure 7 It is a schematic diagram of the state of the comprehensive mining working face during the support pulling process in the control method for straightening the hydraulic support in the embodiment of the present disclosure.

[0049] Reference numerals:

[0050] 1. Hydraulic support; 11. Push rod; 12. Base; 13. Inertial measurement unit; 2. End support; 3. Tail support; 4. Intermediate support; 10. Straightness fitting curve; 20. Straightening reference line; 100. Coal seam occurrence area; 200. Air intake tunnel; 300. Return air tunnel. DETAILED DESCRIPTION

[0051] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0052] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0053] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0054] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0055] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0056] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0057] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0058] In the present disclosure, the relative coordinate value refers to the coordinate of the hydraulic support 1 in the support coordinate system where the hydraulic support 1 itself is located, and the absolute coordinate value refers to the coordinate in the earth coordinate system.

[0059] The first embodiment of the present disclosure provides a control method for straightening a hydraulic support, and the control method for straightening a hydraulic support is used in a fully mechanized mining face of a coal mine, such as Figure 1-Figure 7 As shown, the coal mine fully mechanized mining face system includes an air inlet tunnel 200 and a return air tunnel 300, the air inlet tunnel 200 and the return air tunnel 300 are arranged in parallel with each other, a scraper, a coal mining machine and a plurality of hydraulic supports 1 are arranged between the air inlet tunnel 200 and the return air tunnel 300, the coal mining machine moves between the air inlet tunnel 200 and the return air tunnel 300, the working end of the coal mining machine acts on the coal seam storage area 100, removes a part of the coal seam storage area 100, and the removed coal seam is transported by the scraper. The hydraulic support 1 includes a base 12, a column and a top beam, the column is arranged between the base 12 and the top beam to lift the top beam to support the coal seam storage area 100, and each hydraulic support 1 is connected to the scraper through a push rod 11.

[0060] Pulling the frame and pushing the slide can be understood as common terms in the coal mine comprehensive mining working face system. Pulling the frame refers to the top beam of the hydraulic support 1 being lowered and moving along the push rod 11, and pushing the slide refers to the push rod 11 pushing and pulling the scraper under the action of the driving member to realize the scraper moving forward or backward.

[0061] The control method for straightening a hydraulic support provided in the present disclosure is applied to a fully mechanized mining face in a coal mine, and specifically comprises:

[0062] Step S1: obtaining a straightness fitting curve 10 of the hydraulic supports 1 based on the absolute coordinate values ​​of all the hydraulic supports 1 on the fully mechanized mining working surface;

[0063] During the pushing process, the straightness fitting curve is determined by the line connecting the connection points of each hydraulic support 1 and the scraper. During the pulling process, the straightness fitting curve 10 is determined by the line connecting the connection points of each hydraulic support 1 and the base 12.

[0064] According to the different working modes of each hydraulic support 1, the formation of the straightness fitting curve 10 is different. Figure 6 As shown, for the push-slide working mode, the push rod 11 pushes and pulls the scraper under the action of the driving member to realize the forward or backward movement of the scraper. The connection lines of multiple nodes of the scraper should be in the same straight line to avoid discontinuity of the coal seam when the coal mining machine is working. Therefore, the push line is the connection line formed by the connection points of each push rod 11 and the scraper; Figure 7 As shown, for the pulling frame working mode, the top beam of the hydraulic support 1 is lowered and moves along the push rod 11. The lines connecting the end points of the push rod 11 on the base 12 close to the scraper should be in the same straight line, and the pushing line is the line connecting the end points of each push rod 11 on the base 12 close to the scraper.

[0065] The specific steps include:

[0066] Step S101: performing initial state calibration on all hydraulic supports 1 to obtain initial calibration results;

[0067] The initial calibration result at least includes the relative coordinate value of each hydraulic support 1 , the posture data of the hydraulic support 1 , and the posture relationship between adjacent hydraulic supports 1 .

[0068] The posture data of the support is obtained by the angle sensor and navigation sensor composed of the inertial measurement element installed on the support. Specifically, an inertial measurement element is installed on each hydraulic support 1, and the inertial measurement element can obtain the posture data of the hydraulic support 1 in real time and generate the relative coordinate value of the installation position of the inertial measurement element. After receiving the posture information between two adjacent hydraulic supports 1, the upper computer can calculate the posture relationship between the adjacent hydraulic supports 1. Specifically, the inertial measurement element includes an accelerometer and a gyroscope. The accelerometer detects the acceleration signal of the hydraulic support 1 in the relative coordinate system, and the gyroscope detects the angular velocity signal of the hydraulic support 1 in the relative coordinate system. The gyroscope is used in combination with the accelerometer to output the angular velocity and direction change of the hydraulic support 1 at the installation position of the inertial measurement unit 13, and then calculate the position and direction of the hydraulic support 1 and solve the posture information of the hydraulic support 1. These data can be further converted into the relative coordinate information of the installation position of the inertial measurement element on the hydraulic support 1.

[0069] Exemplarily, the inertial measurement unit 13 is installed on the base 12 or the top beam of the hydraulic support 1. The attitude information of each hydraulic support 1 includes at least one of the heading angle information, the rolling angle information and the pitch angle information of each hydraulic support 1.

[0070] Initial calibration can be achieved by manual alignment or by total station. Manual alignment is to set a straight line between the end bracket 2 and the end bracket 3 perpendicular to the direction of the roadway, push each hydraulic support 1 to be flush with the straight line, and then clear the value of the inertial measurement unit 13 of each hydraulic support 1. The total station can measure the posture of each hydraulic support 1, and then adjust the posture data between adjacent hydraulic supports 1 according to the posture data of the hydraulic support 1 obtained by the inertial measurement unit 13. At this time, the position of each hydraulic support 1 in the direction perpendicular to the roadway is kept in a straight line. Even if they are not in a straight line, the posture relationship between adjacent hydraulic supports 1 is recorded. In the subsequent straightening operation, this posture relationship is used as a reference to improve the accuracy of the straightening operation.

[0071] The initial calibration step is carried out in the initial stage of coal mining in the fully mechanized mining face. Each hydraulic support 1 is initially calibrated before the straightening operation to facilitate the subsequent continuous straightening application and introduce the original error as low as possible in the subsequent straightening process. This initial calibration step only needs to be calibrated once in the fully mechanized mining face.

[0072] Step S102: determining the absolute coordinate values ​​of all hydraulic supports 1 based on the initial calibration results;

[0073] Specifically, it includes step S102: obtaining the relative coordinate value of the predetermined hydraulic support;

[0074] The predetermined hydraulic support refers to the end support 2 or the end support 3, wherein the end support 2 and the end support refer to the hydraulic supports 1 at both ends of all the hydraulic supports 1 in the fully mechanized mining working face, wherein one end is the end support 2 and the other end is the end support 3. The relative coordinate value of the predetermined hydraulic support is obtained by the inertial measurement unit 13 on the predetermined hydraulic support.

[0075] Step S1022: converting the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value;

[0076] Specifically, the depth image information in the tunnel is obtained by the depth camera; wherein, a characteristic image is distributed at a fixed position in the air intake tunnel 200 and / or the return air tunnel 300 in the coal mine, and the characteristic image contains the depth image information, and the depth image information can be effectively identified and extracted by the depth camera to obtain the depth image information in the tunnel. Exemplarily, the depth camera is installed at the top plate position of the end bracket 2.

[0077] The absolute coordinate information of the lane is obtained based on the depth image information; by measuring the distance (depth) between the object and the depth camera, the absolute coordinate information of the location of the feature image can be obtained according to the depth image information.

[0078] Based on the absolute coordinate information, the relative coordinate value of the depth camera installation position is converted into an absolute coordinate value; the depth camera can convert the absolute coordinate information into an absolute coordinate value. Since the depth camera is installed on the end bracket 2, the absolute coordinate value is the absolute coordinate value of the depth camera installation position.

[0079] Based on the absolute coordinate value of the installation position of the depth camera and the posture data of the predetermined hydraulic support, the relative coordinate value of the predetermined hydraulic support is converted into an absolute coordinate value. The depth camera transmits the absolute coordinate value of the installation position and the posture data of the predetermined hydraulic support to the host computer, and the host computer converts the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value.

[0080] Step S1023: Based on the absolute coordinate value of the predetermined hydraulic support, the posture data of the predetermined hydraulic support, and the posture relationship between adjacent hydraulic supports 1, the absolute coordinate values ​​of other hydraulic supports 1 are obtained in sequence. Taking the predetermined hydraulic support end support 2 as an example, the absolute coordinate value of the end support 2, the posture data of the end support 2, and the posture relationship between the end support 2 and the second hydraulic support 1 obtained in the initial calibration result are transmitted to the host computer, and the host computer performs calculations to obtain the absolute coordinate value of the second hydraulic support 1. By repeating the above steps, the absolute coordinate values ​​of all hydraulic supports 1 in the comprehensive mining working face can be obtained.

[0081] In S1022 and S1023, the relative coordinate value of the predetermined hydraulic support is first converted into an absolute coordinate value, and then the relative coordinate values ​​of all hydraulic supports 1 are converted into absolute coordinate values ​​in turn, and an absolute coordinate system is introduced to determine the position of the predetermined hydraulic support instead of using the relative coordinate system of the hydraulic support 1 to determine the position of the hydraulic support 1. The position of each hydraulic support 1 is represented by the coordinate value under the same coordinate system to avoid errors caused by using different coordinate systems to mark the position of the hydraulic support 1. The coordinate conversion of the predetermined hydraulic support is completed first, and then the coordinate conversion of all hydraulic supports 1 on the comprehensive mining working face is realized in turn. Each hydraulic support 1 and the predetermined hydraulic support 1 are converted under the same conditions, and the conversion accuracy is higher.

[0082] Step S103: obtaining the displacement value of each hydraulic support 1 based on the initial calibration result and the absolute coordinate value;

[0083] The displacement value refers to the displacement distance of each hydraulic support 1 in the direction toward the coal seam occurrence area 100. In the first straightening operation, the displacement value is the distance between the position of the hydraulic support 1 and the initial position.

[0084] Specifically, after the coal mining machine continuously advances the coal mining, the straightness of the working face has deviated from the initial calibration state. The inertial measurement unit 13 on each hydraulic support 1 can obtain the displacement distance of each hydraulic support 1 in the direction parallel to the roadway. According to the displacement distance measured by the inertial measurement unit 13, the controller collects data and transmits the data to the host computer through the underground ring network.

[0085] Step S104 : determining the straightness fitting curve 10 of the hydraulic support 1 based on the displacement values ​​of all the hydraulic supports 1 .

[0086] The upper computer can fit the displacement line of the discrete displacement distance of the hydraulic support 1 on the entire working surface, so that the operator can check the current straightness state and use it for subsequent straightness determination and straightening applications. The straightness fitting curve 10 can be a curve or a broken line.

[0087] Step S2: determining the deviation between the straightness fitting curve 10 and the straightening reference line 20;

[0088] Specifically, it includes step S201: determining the straightening reference line 20 and the straightening reference object;

[0089] The straightening reference line 20 is a straight line perpendicular to the air inlet tunnel 200 and the air return tunnel 300. The straightening reference line 20 is determined based on one of the following hydraulic supports 1:

[0090] The most advanced hydraulic support, the most backward hydraulic support, the middle hydraulic support, the end hydraulic support, and the end hydraulic support. The most advanced hydraulic support refers to the hydraulic support 1 with the largest push distance, the most backward support refers to the hydraulic support 1 with the smallest push distance, the middle hydraulic support refers to the hydraulic support 1 in the middle position among all hydraulic supports 1 (middle support 4), and the end hydraulic support (end support 2) and the end hydraulic support (end support 3) are the hydraulic supports 1 at both ends of all hydraulic supports 1. Determine the straightening reference line 20 to facilitate operators to check the status of the straightening reference line 20 and for subsequent straightness determination and straightening operations.

[0091] The reference object for straightening is the straightness at the scraper or the straightness at the hydraulic support 1. Among them, the straightness of the working surface refers to the straightness of the scraper and the straightness of the hydraulic support 1. The straightness of the scraper requires that the various connection points between the scraper and the push rod 11 are in the same straight line, and the straightness of the hydraulic support 1 requires that the base 12 of the hydraulic support 1 is in the same straight line. Specifically, in the process of pushing and sliding, the reference object for straightening is the straightness at the scraper, that is, the straight line where the connection point between the push rod 11 and the scraper is perpendicular to the direction of the roadway. In the process of pulling the frame, the reference object for straightening is the straightness at the hydraulic support 1, that is, the straight line where one end of the base 12 of each hydraulic support 1 faces the scraper and is perpendicular to the direction of the roadway. This straightening method can not only achieve straightening in the process of pulling the frame, but also achieve straightening in the process of pushing and sliding, and its application range is wider.

[0092] Step S202: Determine the hydraulic support of the characteristic points and the deviations corresponding to the characteristic points based on the straightness fitting curve 10 and the straightening reference line 20;

[0093] The deviated hydraulic support refers to the hydraulic support 1 that needs to be straightened. The point where the straightness fitting curve 10 coincides with the straightening reference line 20 indicates that the straightness of the position corresponding to the point does not need to be adjusted, and the point where the straightness fitting curve 10 does not coincide with the straightening reference line 20 indicates that the straightness of the position corresponding to the point may need to be adjusted. The feature point refers to the point where the straightness fitting curve 10 does not coincide with the straightening reference line 20, and the deviated hydraulic support corresponding to the feature point can be further determined through the feature point.

[0094] Step S203: Determine the deviation value of the deviated hydraulic support relative to the straightening reference line 20 based on the distance between the feature point and the straightening reference line 20 .

[0095] When the absolute value of the deviation is less than the preset threshold, the position of each hydraulic support 1 meets the straightness requirement of the fully-mechanized mining working face, and the fully-mechanized mining working face straightening operation is completed;

[0096] When the absolute value of the deviation is greater than or equal to the preset threshold, the position of each hydraulic support 1 does not meet the straightness requirement of the fully mechanized mining working face, and the absolute value of the deviation is the adjustment amount of the hydraulic support 1. Specifically, when the deviation is positive, the automatic following process is used to perform a straightening operation on the hydraulic support with deviation based on the deviation value in the current cut program; when the deviation is negative, the straightening operation is performed on the hydraulic support with deviation based on the deviation value in the next cut program.

[0097] During the pushing and sliding process, the stroke sensor is used as the control parameter of the hydraulic support 1 pushing jack, and the inertial navigation sensor is used for monitoring at this time to detect whether there are abnormal conditions such as slipping and retreating of the hydraulic support 1 during the pushing and sliding process.

[0098] On the one hand, the present invention uses an inertial measurement element to straighten and position the hydraulic support 1, and the sensor is used to monitor the two processes of pushing and pulling the support. On the other hand, absolute coordinates are introduced into the comprehensive mining working face to ensure the straightness of the comprehensive mining working face while improving the verticality between the comprehensive mining working face and the tunnel.

[0099] When performing the pulling operation, the pulling process can be based on the relative displacement data of the stroke sensor or the inertial navigation sensor as the feedback control parameter, which mainly depends on the actual detection and tracking accuracy of the two sensors. In this process, the pushing and sliding process is implemented with full-scale pushing and sliding, which can ensure the straightness of the hydraulic support 1 while ensuring the straightness of the scraper in the subsequent following process.

[0100] The preset threshold is automatically adjusted according to the conditions of the fully mechanized mining face. For example, the preset threshold is set to mm.

[0101] Specifically, a positive deviation value means that the position of the deviation hydraulic support after being pushed does not exceed the straightening reference line 20, that is, the distance between the deviation hydraulic support and the coal seam occurrence area 100 is farther than the distance between the straightening reference line 20 and the coal seam occurrence area 100. In this case, the automatic following process is used to perform straightening operations on the deviation hydraulic support based on the deviation value in the current knife program, so as to achieve rapid straightening of the deviation hydraulic support; a negative deviation value means that the position of the deviation hydraulic support after being pushed exceeds the straightening reference line 20, that is, the distance between the deviation hydraulic support and the coal seam occurrence area 100 is closer than the distance between the straightening reference line 20 and the coal seam occurrence area 100. At this time, there is no need to control the deviation hydraulic support to make it retract. In the next knife program, the straightening operation can be performed on the deviation hydraulic support based on the deviation value, which can improve the straightening work efficiency.

[0102] Taking the straightening reference line 20 determined based on the middlemost support 4 and the straightening reference object as the straightness at the scraper as an example, the characteristic point is determined based on the straightness fitting curve 10 and the straightening reference line 20, and the hydraulic support with deviation corresponding to the characteristic point is actively selected. Further, the deviation value of the hydraulic support with deviation relative to the straightening reference line 20 is determined based on the distance between the characteristic point and the straightening reference line 20. If the absolute value of the deviation value is less than the preset threshold, the position of each hydraulic support 1 meets the straightness requirement of the comprehensive mining working face, and the straightening operation of the comprehensive mining working face is completed; when the absolute value of the deviation value is greater than or equal to the preset threshold, the position of each hydraulic support 1 does not meet the straightness requirement of the comprehensive mining working face, and the absolute value of the deviation value is the adjustment amount of the hydraulic support 1. Specifically, when the deviation value is positive, the automatic following process is used to perform the straightening operation on the hydraulic support with deviation based on the deviation value in the current knife program; when the deviation value is negative, the straightening operation is performed on the hydraulic support with deviation based on the deviation value in the next knife program.

[0103] The present invention forms a more accurate benchmark for subsequent straightening operations by determining the straightness fitting curve based on the absolute coordinate values ​​of all hydraulic supports on the comprehensive mining working surface, reducing the possibility of introducing original errors. At the same time, absolute coordinates are introduced into the comprehensive mining working surface to ensure the straightness of the working surface while improving the verticality between the working surface and the lane.

[0104] Based on the same inventive concept as the above embodiment, the second embodiment of the present disclosure provides a hydraulic support straightening control device, the control device comprising:

[0105] An acquisition module is used to acquire a straightness fitting curve of the hydraulic support based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface;

[0106] A determination module, used for determining the deviation between the straightness fitting curve and the straightening reference line;

[0107] The control module is used to perform a straightening operation on the deviated hydraulic support based on the straightening control parameters when the deviation meets the predetermined conditions.

[0108] Furthermore, the acquisition module includes:

[0109] An initial state calibration unit, used to perform initial state calibration on all hydraulic supports to obtain initial calibration results;

[0110] An absolute coordinate value determination unit, used to determine the absolute coordinate values ​​of all the hydraulic supports based on the initial calibration result;

[0111] A displacement value acquisition unit, which acquires the displacement value of each hydraulic support based on the initial calibration result and the absolute coordinate value;

[0112] A straightness fitting curve of the hydraulic support is determined based on the displacement values ​​of all the hydraulic supports.

[0113] Furthermore, the initial calibration result at least includes the relative coordinate value of each hydraulic support, the posture data of the hydraulic support and the posture relationship between adjacent hydraulic supports.

[0114] The absolute coordinate value determining unit comprises:

[0115] A relative coordinate value acquisition subunit is used to acquire the relative coordinate value of a predetermined hydraulic support;

[0116] A conversion subunit, used to convert the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value;

[0117] The absolute coordinate paper acquisition subunit is used to sequentially acquire the absolute coordinate values ​​of other hydraulic supports based on the absolute coordinate value of the predetermined hydraulic support, the posture data of the predetermined hydraulic support and the posture relationship between adjacent hydraulic supports.

[0118] The conversion subunit is specifically used to obtain depth image information in the alley through a depth camera; obtain absolute coordinate information of the alley based on the depth image information; convert the relative coordinate value of the depth camera installation position into an absolute coordinate value based on the absolute coordinate information; convert the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value based on the absolute coordinate value of the depth camera installation position and the posture data of the predetermined hydraulic support.

[0119] Furthermore, the determining module includes:

[0120] A reference determination unit, used to determine a straightening reference object and a straightening reference line;

[0121] A feature point determination unit, for determining a hydraulic support of a feature point and a deviation corresponding to the feature point based on the straightness fitting curve and the straightening reference line;

[0122] The deviation value determining unit is used to determine the deviation value of the deviated hydraulic support relative to the straightening reference line based on the distance between the characteristic point and the straightening reference line.

[0123] Further, the straightening reference line is determined based on one of the following hydraulic supports:

[0124] The most advanced hydraulic support, the most backward hydraulic support, the middle hydraulic support, the end hydraulic support, and the tail hydraulic support.

[0125] Furthermore, the straightening reference object is the straightness at the scraper or the straightness at the hydraulic support.

[0126] Furthermore, the control module comprises:

[0127] A first operating unit is used to perform a straightening operation on the deviated hydraulic support based on the deviation value in the current tool program by using an automatic machine following process when the deviation value is a positive value;

[0128] The second operating unit is used to perform a straightening operation on the deviated hydraulic support based on the deviation value in a next cutting procedure when the deviation value is a negative value.

[0129] The present invention forms a more accurate benchmark for subsequent straightening operations by determining the straightness fitting curve based on the absolute coordinate values ​​of all hydraulic supports on the comprehensive mining working surface, reducing the possibility of introducing original errors. At the same time, absolute coordinates are introduced into the comprehensive mining working surface to ensure the straightness of the working surface while improving the verticality between the working surface and the lane.

[0130] A third embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:

[0131] S11: obtaining a straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface;

[0132] S12: Determine the deviation between the straightness fitting curve and the straightening reference line;

[0133] S13: When the deviation meets a predetermined condition, the hydraulic support with the deviation is straightened based on the straightening control parameter.

[0134] Of course, other steps of the control method can also be used to implement the above embodiment.

[0135] The present invention forms a more accurate benchmark for subsequent straightening operations by determining the straightness fitting curve based on the absolute coordinate values ​​of all hydraulic supports on the comprehensive mining working surface, reducing the possibility of introducing original errors. At the same time, absolute coordinates are introduced into the comprehensive mining working surface to ensure the straightness of the working surface while improving the verticality between the working surface and the lane.

[0136] A fourth embodiment of the present disclosure provides an electronic device, the electronic device comprising at least a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program on the memory, specifically comprising:

[0137] S21: obtaining a straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface;

[0138] S22: Determine the deviation between the straightness fitting curve and the straightening reference line;

[0139] S23: When the deviation meets a predetermined condition, the hydraulic support with the deviation is straightened based on the straightening control parameter.

[0140] The present invention forms a more accurate benchmark for subsequent straightening operations by determining the straightness fitting curve based on the absolute coordinate values ​​of all hydraulic supports on the comprehensive mining working surface, reducing the possibility of introducing original errors. At the same time, absolute coordinates are introduced into the comprehensive mining working surface to ensure the straightness of the working surface while improving the verticality between the working surface and the lane.

[0141] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0142] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0143] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0144] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0145] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0146] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0147] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by the processor, the steps of the above-mentioned motor torque control method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0148] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0149] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for straightening a hydraulic support, characterized in that: include: Obtaining a straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface; Determining the deviation between the straightness fitting curve and the straightening reference line; When the deviation meets a predetermined condition, the hydraulic support with the deviation is straightened based on the straightening control parameter.

2. The control method according to claim 1, characterized in that: The method of obtaining the straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface includes: Perform initial state calibration on all hydraulic supports to obtain initial calibration results; Determining the absolute coordinate values ​​of all the hydraulic supports based on the initial calibration results; Acquire a displacement value of each hydraulic support based on the initial calibration result and the absolute coordinate value; A straightness fitting curve of the hydraulic support is determined based on the displacement values ​​of all the hydraulic supports.

3. The control method according to claim 2, characterized in that: The initial calibration result at least includes the relative coordinate value of each hydraulic support, the posture data of the hydraulic support, and the posture relationship between adjacent hydraulic supports.

4. The control method according to claim 3, characterized in that: The determining of the absolute coordinate values ​​of all the hydraulic supports based on the initial calibration results includes: Obtaining the relative coordinate value of the predetermined hydraulic support; Converting the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value; Based on the absolute coordinate value of the predetermined hydraulic support, the posture data of the predetermined hydraulic support and the posture relationship between adjacent hydraulic supports, the absolute coordinate values ​​of other hydraulic supports are acquired in sequence.

5. The control method according to claim 4, characterized in that: The converting the relative coordinate value of the predetermined hydraulic support into an absolute coordinate value includes: Acquire depth image information in the lane through a depth camera; Acquiring absolute coordinate information of the lane based on the depth image information; Converting the relative coordinate value of the depth camera installation position into an absolute coordinate value based on the absolute coordinate information; The relative coordinate value of the predetermined hydraulic support is converted into an absolute coordinate value based on the absolute coordinate value of the installation position of the depth camera and the posture data of the predetermined hydraulic support.

6. The control method according to claim 1, characterized in that: Determining the deviation between the straightness fitting curve and the straightening reference line includes: Determine the reference object and the baseline for straightening; A hydraulic support for determining characteristic points and deviations corresponding to the characteristic points based on the straightness fitting curve and the straightening reference line; The deviation value of the deviated hydraulic support relative to the straightening reference line is determined based on the distance between the characteristic point and the straightening reference line.

7. The control method according to claim 6, characterized in that: In the determining of the straightening reference line and the straightening reference object, the straightening reference line is determined based on one of the following hydraulic supports: The most advanced hydraulic support, the most backward hydraulic support, the middle hydraulic support, the end hydraulic support, and the tail hydraulic support.

8. The control method according to claim 6, characterized in that: In the determination of the straightening reference line and the straightening reference object, the straightening reference object is the straightness at the scraper or the straightness at the hydraulic support.

9. The control method according to claim 6, characterized in that: When the deviation satisfies a predetermined condition, the hydraulic support with the deviation is subjected to motion control based on the straightening control parameter, including: When the deviation value is positive, an automatic machine following process is used to perform a straightening operation on the deviated hydraulic support based on the deviation value in the current tool program; When the deviation value is a negative value, a straightening operation is performed on the deviated hydraulic support based on the deviation value in the next cutting procedure.

10. A control device for straightening a hydraulic support, characterized in that: include: An acquisition module is used to acquire a straightness fitting curve of the hydraulic supports based on the absolute coordinate values ​​of all the hydraulic supports on the fully mechanized mining working surface; A determination module, used to determine the deviation between the straightness fitting curve and the straightening reference line; The control module is used to perform a straightening operation on the hydraulic support with the deviation based on the straightening control parameter when the deviation meets the predetermined condition.

Images