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

Abstract

The invention provides a method and a device for regulating and controlling the supporting state of a hydraulic support, electronic equipment and a storage medium. The method comprises the following steps: collecting hydraulic support monitoring data and transmitting the hydraulic support monitoring data to a control rear end; inputting the hydraulic support monitoring data into a hydraulic support parameterization expression model at the control rear end, and solving the deduction attitude of each component of the hydraulic support; the deduction postures of all the components are synchronized to a control front end in a memory sharing mode, so that the control front end controls the supporting state of the hydraulic support according to the deduction postures of all the components, and the calculation difficulty of the internal postures of the support can be reduced through a hydraulic support parameterization expression model; and on the premise that data driving cannot be directly obtained, deduction, regulation and control of the supporting state of the hydraulic support can be achieved from the knowledge driving level.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic support posture detection technology, and in particular to a hydraulic support support state control method, device, electronic equipment and storage medium. Background Art

[0002] As the key support equipment for underground comprehensive mining working faces, the intelligence level of hydraulic supports directly affects the safety and production efficiency of the working face. The current hydraulic supports cannot monitor and adjust their own postures autonomously, and require frequent manual intervention, which cannot meet the requirements of intelligent and safe support of hydraulic supports in intelligent mining. In related technologies, the method of spatial coordinate transformation requires calculation based on the movement of each hydraulic support structure to obtain the working posture of the hydraulic support, but this calculation method will have multiple solutions, and the optimal solution needs to be further determined. However, there is currently a lack of effective methods to determine the optimal solution, resulting in low reliability of existing hydraulic support support status monitoring data. Summary of the invention

[0003] The present invention provides a hydraulic support support state control method, device, electronic device and storage medium to solve the defect that the traditional hydraulic support support state control method calculates and obtains the hydraulic support working posture based on the movement of each hydraulic support structure, and there are multiple solutions, resulting in low reliability.

[0004] The present invention provides a method for controlling the supporting state of a hydraulic support, comprising: Collecting hydraulic support monitoring data and transmitting the hydraulic support monitoring data to the control back end; Inputting the monitoring data of the hydraulic support into the parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support; The deduced postures of the various components are synchronized to the control front end in a shared memory manner, so that the control front end controls the support state of the hydraulic support according to the deduced postures of the various components.

[0005] According to the hydraulic support support state control method provided by the present invention, the acquisition of hydraulic support monitoring data includes: The hydraulic support internal structure posture measurement data is obtained through a contact sensor, and the hydraulic support internal structure posture sensing data is obtained through a non-contact sensor.

[0006] According to the hydraulic support support state control method provided by the present invention, the non-contact sensor is a two-dimensional laser radar, and the acquisition of the hydraulic support internal structure posture sensing data by the non-contact sensor includes: Convert the two-dimensional polar coordinate data output by the two-dimensional laser radar into three-dimensional rectangular coordinate data, and fill the missing dimension data with 0; Performing clipping and filtering on the three-dimensional rectangular coordinate data to obtain point cloud data of the support component; A plurality of straight line fittings are performed on the point cloud data of the support component to obtain the fitting straight lines corresponding to the support component, and the angles between the straight lines are calculated by the parameters of the fitting straight lines to obtain the top beam angle and the shield beam angle of the hydraulic support.

[0007] According to the hydraulic support support state control method provided by the present invention, the hydraulic support parameter expression model construction method includes: The three-dimensional motion model is reduced to obtain a plane motion model, and the plane motion model is used as a parameterized expression model of the hydraulic support.

[0008] According to the hydraulic support support state control method provided by the present invention, the hydraulic support monitoring data is input into the hydraulic support parameter expression model at the control back end to solve the deduced posture of each component of the hydraulic support, including: According to the geometric motion relationship of the four-bar linkage, the relationship is constructed:

[0009] The obtained inclination angle of the shield beam and top beam inclination Input the above relationship to derive the front link inclination angle and rear link inclination :

[0010] Among them, the parameters , , They are:

[0011] in, is the angle between the connection line of the lower pin of the front link and the lower pin of the rear link and the base, is the length of the line connecting the upper pin of the front link and the upper pin of the rear link, It is the length of the line connecting the lower pin of the front link and the lower pin of the rear link.

[0012] According to the hydraulic support support state control method provided by the present invention, the hydraulic support monitoring data is input into the hydraulic support parameter expression model at the control back end to solve the deduced posture of each component of the hydraulic support, including: According to the rear link inclination Calculate the coordinates of the center point F of the shield beam and the rear link pin:

[0013] in , , They are the horizontal distance from the coordinate origin to the center point of the lower pin of the rear link, the vertical distance from the coordinate origin to the center point of the lower pin of the rear link, and the length of the rear link; The coordinates of the center point I of the connecting pin of the top beam and the shield beam are calculated by the F coordinates:

[0014] in The length of the line connecting the upper pin of the shield beam and the lower pin of the shield beam; Calculate the coordinates of the center point K of the pin connecting the rear column and the top beam through the coordinates of point I:

[0015] in , They are respectively the vertical distance between the extension line of the connection line between the pin shaft on the front column and the pin shaft on the rear column and the pin shaft on the shield beam, and the distance between the vertical projection point of the pin shaft on the shield beam on the connection line of the pin shaft on the column and the rear column; Calculate the coordinates of the center point L of the pin connecting the front column and the top beam through the coordinates of point K:

[0016] in is the distance between the pin on the front column and the pin on the rear column; The coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are:

[0017] in, , , They are respectively the horizontal distance from the coordinate origin to the lower pin of the front column, the horizontal distance from the coordinate origin to the lower pin of the rear column, and the vertical distance from the coordinate origin to the lower pin of the front column.

[0018] Calculate the inclination angle of the front column according to the position of the upper and lower pins of the front and rear columns Angle of inclination to rear pillar , its calculation expression is:

[0019] The coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are taken as the parameters before the posture change, and the coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are obtained after the change. , , , , then calculate the elongation of the front and rear columns and for:

[0020] .

[0021] The method for controlling the supporting state of a hydraulic support provided by the present invention further includes: Design a virtual-real interaction interface for a hydraulic support, which is used to display the monitoring data of the hydraulic support in real time and receive virtual control instructions; After the deduced postures of the various components are acquired, a next action virtual control instruction is generated according to the current motion, and the next action of the hydraulic support is controlled according to the next action virtual control instruction.

[0022] The present invention also provides a hydraulic support support state control device, comprising: An acquisition module, used for acquiring monitoring data of the hydraulic support and transmitting the monitoring data of the hydraulic support to a control backend; A solution module, used for inputting the monitoring data of the hydraulic support into a parameterized expression model of the hydraulic support at the control back end, and solving the deduced posture of each component of the hydraulic support; The control module is used to synchronize the deduced postures of the various components to the control front end through shared memory, so that the control front end controls the support state of the hydraulic support according to the deduced postures of the various components.

[0023] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for controlling the support state of a hydraulic support as described in any one of the above items is implemented.

[0024] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the method for controlling the support state of a hydraulic support described in any one of the above items is implemented.

[0025] The hydraulic support support state control method, device, electronic device and storage medium provided by the present invention collect hydraulic support monitoring data and transmit the hydraulic support monitoring data to a control back end; the hydraulic support monitoring data is input into a hydraulic support parameterized expression model at the control back end to solve the deduced posture of each component of the hydraulic support; the deduced posture of each component is synchronized to the control front end by means of shared memory, so that the control front end controls the support state of the hydraulic support according to the deduced posture of each component. The hydraulic support parameterized expression model can reduce the difficulty of solving the internal posture of the support, and obtain a unique solution for the motion of the hydraulic support. Moreover, under the premise that data-driven cannot be directly obtained, the deduction and control of the support state of the hydraulic support can be realized from the knowledge-driven level. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a flow chart of a method for controlling the supporting state of a hydraulic support provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the overall framework of virtual-real mapping of a hydraulic support provided by an embodiment of the present invention; Figure 3 is a schematic diagram of the installation position of the sensor provided in an embodiment of the present invention; Figure 4 It is a schematic diagram of the structure of a hydraulic support model provided by an embodiment of the present invention; Figure 5 is a schematic diagram of the structure of a reduced-order hydraulic support model provided by an embodiment of the present invention; Figure 6 is a schematic diagram of a virtual-real interaction interface of a hydraulic support provided by an embodiment of the present invention; Figure 7 It is a functional structure diagram of a hydraulic support support state control device provided by an embodiment of the present invention; Figure 8 It is a functional structure diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] Figure 1 A flow chart of a method for controlling the support state of a hydraulic support provided by an embodiment of the present invention, such as Figure 1 As shown, the method for controlling the supporting state of a hydraulic support provided by an embodiment of the present invention includes: Step 101, collecting the monitoring data of the hydraulic support and transmitting the monitoring data of the hydraulic support to the control back end; Step 102: inputting the monitoring data of the hydraulic support into a parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support; In the embodiment of the present invention, according to the detection characteristics of the sensor, a parameterized expression model of the hydraulic support is established to solve the deduced posture of each component of the hydraulic support, thereby realizing dynamic compensation of the detection error.

[0030] Step 103: synchronize the deduced postures of the various components to the control front end by means of shared memory, so that the control front end controls the support state of the hydraulic support according to the deduced postures of the various components.

[0031] Under the premise of ensuring the reliability of sensor detection values, the embodiment of the present invention realizes high-reliability solution of the posture of the hydraulic support through the front-end and rear-end separation mode of "real-time solution at the back end and real-time driving of the hydraulic support posture reconstruction at the front end", thereby ensuring a higher degree of virtual-reality mapping of the obtained posture.

[0032] The traditional hydraulic support support status control method adopts the method of spatial coordinate transformation, which requires calculation based on the movement of each hydraulic support structure to obtain the hydraulic support working posture. However, this calculation method will have multiple solutions, and the optimal solution needs to be further determined. However, there is currently a lack of effective methods to determine the optimal solution, resulting in low reliability of existing hydraulic support support status monitoring data.

[0033] The hydraulic support support state control method provided by the embodiment of the present invention collects hydraulic support monitoring data and transmits the hydraulic support monitoring data to a control back end; the hydraulic support monitoring data is input into a hydraulic support parameterized expression model at the control back end to solve the deduced posture of each component of the hydraulic support; the deduced posture of each component is synchronized to the control front end in a shared memory manner, so that the control front end controls the support state of the hydraulic support according to the deduced posture of each component. The hydraulic support parameterized expression model can reduce the difficulty of solving the internal posture of the support, and obtain a unique solution for the motion of the hydraulic support. Moreover, under the premise that data-driven cannot be directly obtained, the deduction and control of the support state of the hydraulic support can be realized from the knowledge-driven level.

[0034] Based on any of the above embodiments, the overall framework of virtual-real mapping of hydraulic support is as follows: Figure 2 As shown in the figure, it mainly includes the physical layer, the back end and the front end, wherein the physical layer uses sensors such as the inclination angle to monitor the posture information of the hydraulic support, import the information of the hydraulic support into the virtual scene and receive the control command of the virtual scene. The back end is to further solve the real-time sensor data or the data of the virtual control instruction in the virtual scene through the parameterized analysis of the hydraulic support, and solve the component angle that the sensor has not measured or the virtual instruction mentioned. The front end is to concretize the data of the back end, that is, to build the UI interface, so that the motion state of the virtual hydraulic support and the real hydraulic support are mapped and carried out synchronously. The front end can also change the posture of the virtual hydraulic support and the real hydraulic support by sending virtual control instructions.

[0035] The monitoring data collection of hydraulic supports is realized at the physical layer. The monitoring of hydraulic supports is divided into the monitoring of the internal posture of a single support and the external posture of the support. The external posture of a hydraulic support refers to the relative posture of adjacent hydraulic supports based on the base without considering the internal posture of the hydraulic support. The installation position of the sensor for monitoring the internal posture of a single support is as follows: Figure 3 As shown, the inclination sensor is installed on the shield beam and the top beam, and the two-dimensional laser radar is installed on the inner side of the left front column of the support. The inclination sensor and the two-dimensional laser radar are used to collect data on the support. When the support height changes, the angles of the front connecting rod, rear connecting rod, shield beam, top beam and other components of the hydraulic support also change, causing the internal posture of the support to change. The collected monitoring data of the hydraulic support includes: The hydraulic support internal structure posture measurement data is obtained through a contact sensor, and the hydraulic support internal structure posture sensing data is obtained through a non-contact sensor.

[0036] In the embodiment of the present invention, the contact sensor includes an inclination sensor, and the data of the inclination sensor is also processed after the monitoring data of the hydraulic support is collected. The inclination sensor communicates with the host computer through the serial port, and a C# program is written to read the data of the sensor. The sensor data is transmitted to Unity 3D using the TCP communication protocol. After the virtual scene receives the sensor data, the rotation angle or position of the corresponding component of the virtual support is modified to realize the motion support simulation.

[0037] In an embodiment of the present invention, the non-contact sensor is a two-dimensional laser radar, and the method of obtaining the internal structure posture sensing data of the hydraulic support by the non-contact sensor includes: Convert the two-dimensional polar coordinate data output by the two-dimensional laser radar into three-dimensional rectangular coordinate data, and fill the missing dimension data with 0; Performing clipping and filtering on the three-dimensional rectangular coordinate data to obtain point cloud data of the support component; A plurality of straight line fittings are performed on the point cloud data of the support component to obtain the fitting straight lines corresponding to the support component, and the angles between the straight lines are calculated by the parameters of the fitting straight lines to obtain the top beam angle and the shield beam angle of the hydraulic support.

[0038] The coordinate system output by the two-dimensional laser radar is a two-dimensional polar coordinate system. In order to facilitate further processing of the data, the two-dimensional polar coordinate system of the point needs to be converted into a three-dimensional rectangular coordinate system. The PCL library is used to process the pcd file. The point cloud is first cropped and filtered to obtain the point cloud of the support component. Multiple RANSAC straight line fitting is performed on the filtered support points to obtain the fitting straight line corresponding to the support component. The angle between the straight lines is calculated through the parameters of the fitting straight line to obtain the top beam angle and the shield beam angle of the hydraulic support. The embodiment of the present invention reduces the number of contact sensors and avoids the problem of difficulty in installing sensors when measuring the posture of the internal structure of the hydraulic support by adding a two-dimensional laser radar, thereby increasing the number of parameters for monitoring the hydraulic support posture.

[0039] The embodiment of the present invention enhances the detection range of the hydraulic support sensor and improves the comprehensiveness of monitoring through multi-sensor fusion; through virtual-real synchronous mapping, reliable matching and deduction of real-time sensor information in a virtual environment is achieved, thereby ensuring the reliability of monitoring data.

[0040] Based on any of the above embodiments, the method for constructing a parameterized expression model of a hydraulic support includes: The three-dimensional motion model is reduced to obtain a plane motion model, and the plane motion model is used as a parameterized expression model of the hydraulic support.

[0041] The structure of hydraulic support model is as follows Figure 4As shown in the figure, the hydraulic support model is reduced in order. According to the structure of the hydraulic support and the motion coordination relationship of the components of the hydraulic support, the internal posture change of the hydraulic support is regarded as a plane motion and simplified into a plane kinematic analysis. The plane motion model obtained by the order reduction is as follows: Figure 5 shown.

[0042] In the embodiment of the present invention, the parametric expression model of the hydraulic support can reduce the difficulty of solving the internal posture of the support, improve the current posture solution model of the hydraulic support, can effectively and reliably describe the posture changes of the hydraulic support during movement, and provide a reference for the internal posture solution process of the shielding support and other types of supports.

[0043] Based on any of the above embodiments, the shielding beam angle and the top beam angle of the hydraulic support can be measured by the inclination sensor; the front connecting rod angle, the shielding beam angle and the top beam angle of the hydraulic support can be measured by the two-dimensional radar. When the support height is too low, the cylinder of the rear column will block the radar scanning of the front column, resulting in a lack of information about the front column. Therefore, the shielding beam angle and the top beam angle are used as known information to deduce the information of other components of the main body of the hydraulic support. The information that needs to be derived includes the front connecting rod angle, the rear connecting rod angle, the front and rear column angles and their corresponding elongation.

[0044] In an embodiment of the present invention, the step of inputting the monitoring data of the hydraulic support into a parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support includes: According to the geometric motion relationship of the four-bar linkage, the relationship is constructed:

[0045] The obtained inclination angle of the shield beam and top beam inclination Input the above relationship to derive the front link inclination angle and rear link inclination :

[0046] Among them, the parameters , , They are:

[0047] in, is the angle between the connection line of the lower pin of the front link and the lower pin of the rear link and the base, is the length of the line connecting the upper pin of the front link and the upper pin of the rear link, It is the length of the line connecting the lower pin of the front link and the lower pin of the rear link.

[0048] In an embodiment of the present invention, the step of inputting the monitoring data of the hydraulic support into a parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support includes: According to the rear link inclination Calculate the coordinates of the center point F of the shield beam and the rear link pin:

[0049] in , , They are the horizontal distance from the coordinate origin to the center point of the lower pin of the rear link, the vertical distance from the coordinate origin to the center point of the lower pin of the rear link, and the length of the rear link.

[0050] The coordinates of the center point I of the connecting pin of the top beam and the shield beam are calculated by the F coordinates:

[0051] in It is the length of the line connecting the upper pin of the shielding beam and the lower pin of the shielding beam.

[0052] Calculate the coordinates of the center point K of the pin connecting the rear column and the top beam through the coordinates of point I:

[0053] in , They are respectively the vertical distance between the extended line of the connecting line between the pin shaft on the front column and the pin shaft on the rear column and the pin shaft on the shielding beam, and the distance between the vertical projection point of the pin shaft on the shielding beam on the connecting line of the pin shaft of the column and the rear column.

[0054] Calculate the coordinates of the center point L of the pin connecting the front column and the top beam through the coordinates of point K:

[0055] in It is the distance between the pin on the front column and the pin on the rear column.

[0056] The coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are:

[0057] in, , , They are respectively the horizontal distance from the coordinate origin to the lower pin of the front column, the horizontal distance from the coordinate origin to the lower pin of the rear column, and the vertical distance from the coordinate origin to the lower pin of the front column.

[0058] Calculate the inclination angle of the front column according to the position of the upper and lower pins of the front and rear columns Angle of inclination to rear pillar , its calculation expression is:

[0059] The coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are taken as the parameters before the posture change, and the coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are obtained after the change. , , , , then calculate the elongation of the front and rear columns and for:

[0060] .

[0061] In the implementation of the present invention, the inclination angle and elongation of the hydraulic support column are calculated based on the key point coordinates. By analyzing the relationship between the inclination angle and elongation of the hydraulic support column, the support state of the hydraulic support can be deduced from the knowledge-driven level under the premise that data-driven cannot be directly obtained, which can provide mechanism support for the simulation of the surrounding rock support process.

[0062] Based on any of the above embodiments, data synchronization is achieved through the front end and the back end through shared memory, thereby realizing virtual-real mapping. The front end of the hydraulic support receives the angles of each support component sent by the back end of the virtual scene, and the front end controls the components of the hydraulic support in the scene to rotate according to their corresponding angles through UI buttons to adjust the posture of the support. At the same time, the internal posture of the hydraulic support can also be reversely controlled by changing the angle of the support component on the UI interface.

[0063] Based on any of the above embodiments, the hydraulic support support state control method further includes: Design a virtual-real interaction interface for a hydraulic support, which is used to display the monitoring data of the hydraulic support in real time and receive virtual control instructions; After the deduced postures of the various components are acquired, a next action virtual control instruction is generated according to the current motion, and the next action of the hydraulic support is controlled according to the next action virtual control instruction.

[0064] The virtual-real interaction of hydraulic supports Figure 6 As shown in the figure, the bracket parameter module displays the angle parameters of the relevant components of the current bracket. The posture of the selected hydraulic bracket can be seen in both the virtual scene and the real scene. The bracket control module can be used to control the lifting and lowering of the hydraulic bracket, pushing and sliding, moving the bracket, opening and closing the guardrail, etc., thereby completing the movement process of the hydraulic bracket.

[0065] The virtual-reality interaction interface of the hydraulic support designed in Unity in the embodiment of the present invention can accurately display the posture state of the hydraulic support in real time. The human-computer interaction panel can more intuitively feedback the effect of the control of the related actions of the hydraulic support, realize the visualization of the posture change of the hydraulic support, and ensure the effective monitoring of whether there are abnormalities or faults in the action process of the hydraulic support. And realize the virtual monitoring and reverse control of the internal posture of the hydraulic support. By displaying the sensor data in real time, while obtaining the posture characteristics of the hydraulic support, the next action can be planned according to the current movement, and the action can be controlled in the form of virtual control instructions. The actual hydraulic support will not interfere with the electro-hydraulic control system.

[0066] The embodiments of the present invention can be expanded to other posture detection fields through digital twin simulation models and synchronous mapping of virtual and real. Under the premise of enhanced posture monitoring information and enhanced reliability of sensor information, reliable data-driven and perfect knowledge-driven jointly support the reliability of virtual monitoring and reverse control of hydraulic supports, providing ideas for the monitoring and control processes of other comprehensive mining equipment.

[0067] The hydraulic support support state control method provided by the embodiment of the present invention integrates contact sensors such as pressure sensors, displacement sensors, and inclination sensors. The collected data is limited to local data of the installation position, and when the hydraulic support is in a stable operating state, it is difficult to directly obtain the posture through the value of the performance sensor. By adding a two-dimensional laser radar, the number of contact sensors is reduced and the problem of difficulty in installing sensors when measuring the posture of the internal structure of the hydraulic support is avoided, the detection range of the hydraulic support sensor is enhanced, and the reliable matching and deduction of real-time sensor information in a virtual environment is achieved through virtual-real synchronous mapping, the reliability of the monitoring data is guaranteed, and the hydraulic support is placed in a unified coordinate system. On the basis of marking the key points of operation, the coordinate relationship along each coordinate axis is solved. It is a solution method for posture detection by integrating contact sensors and non-contact sensors. The method is suitable for solving the posture of the hydraulic support under virtual-real fusion analysis, and can obtain a unique solution for the motion of the hydraulic support. Under the premise that data-driven cannot be directly obtained, the deduction of the support state of the hydraulic support can be realized from the knowledge-driven level.

[0068] The hydraulic support support state control device provided by the present invention is described below. The hydraulic support support state control device described below and the hydraulic support support state control method described above can be referred to each other.

[0069] Figure 7 A schematic diagram of a hydraulic support support state control device provided by an embodiment of the present invention, such as Figure 7 As shown, the hydraulic support support state control device provided by the embodiment of the present invention includes: The acquisition module 701 is used to acquire the monitoring data of the hydraulic support and transmit the monitoring data of the hydraulic support to the control back end; A solution module 702 is used to input the monitoring data of the hydraulic support into a parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support; The control module 703 is used to synchronize the deduced postures of the various components to the control front end through a shared memory, so that the control front end controls the support state of the hydraulic support according to the deduced postures of the various components.

[0070] The hydraulic support support state control device provided in the embodiment of the present invention collects hydraulic support monitoring data and transmits the hydraulic support monitoring data to a control back end; the hydraulic support monitoring data is input into a hydraulic support parameterized expression model at the control back end to solve the deduced posture of each component of the hydraulic support; the deduced posture of each component is synchronized to the control front end in a shared memory manner, so that the control front end controls the support state of the hydraulic support according to the deduced posture of each component. The hydraulic support parameterized expression model can reduce the difficulty of solving the internal posture of the support, and obtain a unique solution for the motion of the hydraulic support. Moreover, under the premise that data-driven cannot be directly obtained, the deduction and control of the support state of the hydraulic support can be realized from the knowledge-driven level.

[0071] Figure 8 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 8As shown, the server may include: a processor 810, a communication interface 820, a memory 830 and a communication bus 840, wherein the processor 810, the communication interface 820 and the memory 830 communicate with each other through the communication bus 840. The memory 830 includes a computer program, an operating system and acquired data, and the processor 810 may call the logic instructions in the memory 830 to execute the hydraulic support support state control method, the method comprising: collecting hydraulic support monitoring data and transmitting the hydraulic support monitoring data to the control backend; inputting the hydraulic support monitoring data into the hydraulic support parameterized expression model at the control backend to solve the deduced posture of each component of the hydraulic support; synchronizing the deduced posture of each component to the control front end by sharing memory, so that the control front end controls the support state of the hydraulic support according to the deduced posture of each component.

[0072] In addition, the logic instructions in the above-mentioned memory 830 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the relevant technology or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0073] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, it is implemented to execute the hydraulic support support state control method provided by the above-mentioned methods. The method includes: collecting hydraulic support monitoring data and transmitting the hydraulic support monitoring data to a control back end; inputting the hydraulic support monitoring data into a hydraulic support parametric expression model at the control back end to solve the deduced posture of each component of the hydraulic support; synchronizing the deduced posture of each component to the control front end through shared memory, so that the control front end controls the support state of the hydraulic support according to the deduced posture of each component.

[0074] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0075] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0076] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these 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 invention.

Claims

1. A method for controlling the supporting state of a hydraulic support, characterized in that: include: Collecting hydraulic support monitoring data and transmitting the hydraulic support monitoring data to the control back end; Inputting the monitoring data of the hydraulic support into the parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support; The deduced postures of the various components are synchronized to the control front end in a shared memory manner, so that the control front end controls the support state of the hydraulic support according to the deduced postures of the various components.

2. The method for controlling the supporting state of a hydraulic support according to claim 1, characterized in that: The collection of hydraulic support monitoring data includes: The hydraulic support internal structure posture measurement data is obtained through a contact sensor, and the hydraulic support internal structure posture sensing data is obtained through a non-contact sensor.

3. The method for controlling the supporting state of a hydraulic support according to claim 2, characterized in that: The non-contact sensor is a two-dimensional laser radar, and the method of obtaining the internal structure posture sensing data of the hydraulic support through the non-contact sensor includes: Convert the two-dimensional polar coordinate data output by the two-dimensional laser radar into three-dimensional rectangular coordinate data, and fill the missing dimension data with 0; Performing clipping and filtering on the three-dimensional rectangular coordinate data to obtain point cloud data of the support component; A plurality of straight line fittings are performed on the point cloud data of the support component to obtain the fitting straight lines corresponding to the support component, and the angles between the straight lines are calculated by the parameters of the fitting straight lines to obtain the top beam angle and the shield beam angle of the hydraulic support.

4. The method for controlling the supporting state of a hydraulic support according to claim 1, characterized in that: The method for constructing a parameterized expression model of a hydraulic support comprises: The three-dimensional motion model is reduced to obtain a plane motion model, and the plane motion model is used as a parameterized expression model of the hydraulic support.

5. The method for controlling the supporting state of a hydraulic support according to claim 4, characterized in that: The step of inputting the monitoring data of the hydraulic support into the parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support includes: According to the geometric motion relationship of the four-bar linkage, the relationship is constructed: The obtained inclination angle of the shield beam and top beam inclination Input the above relationship to derive the front link inclination angle and rear link inclination : Among them, the parameters , , They are: in, is the angle between the connection line of the lower pin of the front link and the lower pin of the rear link and the base, is the length of the line connecting the upper pin of the front link and the upper pin of the rear link, It is the length of the line connecting the lower pin of the front link and the lower pin of the rear link.

6. The method for controlling the supporting state of a hydraulic support according to claim 5, characterized in that: The step of inputting the monitoring data of the hydraulic support into the parameterized expression model of the hydraulic support at the control back end to solve the deduced posture of each component of the hydraulic support includes: According to the rear link inclination Calculate the coordinates of the center point F of the shield beam and the rear link pin: in , , They are the horizontal distance from the coordinate origin to the center point of the lower pin of the rear link, the vertical distance from the coordinate origin to the center point of the lower pin of the rear link, and the length of the rear link; The coordinates of the center point I of the connecting pin of the top beam and the shield beam are calculated by the F coordinates: in The length of the line connecting the upper pin of the shield beam and the lower pin of the shield beam; Calculate the coordinates of the center point K of the pin connecting the rear column and the top beam through the coordinates of point I: in , They are respectively the vertical distance between the extension line of the connection line between the pin shaft on the front column and the pin shaft on the rear column and the pin shaft on the shield beam, and the distance between the vertical projection point of the pin shaft on the shield beam on the connection line of the pin shaft on the column and the rear column; Calculate the coordinates of the center point L of the pin connecting the front column and the top beam through the coordinates of point K: in is the distance between the pin on the front column and the pin on the rear column; The coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are: in, , , They are the horizontal distance from the coordinate origin to the lower pin of the front column, the horizontal distance from the coordinate origin to the lower pin of the rear column, and the vertical distance from the coordinate origin to the lower pin of the front column; Calculate the inclination angle of the front column according to the position of the upper and lower pins of the front and rear columns Angle of inclination to rear pillar , its calculation expression is: The coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are taken as the parameters before the posture change, and the coordinates of the center point A of the pin connecting the front column and the base and the coordinates of the center point B of the pin connecting the rear column and the base are obtained after the change. , , , , then calculate the elongation of the front and rear columns and for: 。 7. The method for controlling the supporting state of a hydraulic support according to claim 1, characterized in that: Also includes: Design a virtual-real interaction interface for a hydraulic support, which is used to display the monitoring data of the hydraulic support in real time and receive virtual control instructions; After the deduced postures of the various components are acquired, a next action virtual control instruction is generated according to the current motion, and the next action of the hydraulic support is controlled according to the next action virtual control instruction.

8. A hydraulic support support state control device, characterized in that: include: An acquisition module, used for acquiring monitoring data of the hydraulic support and transmitting the monitoring data of the hydraulic support to a control backend; A solution module, used for inputting the monitoring data of the hydraulic support into a parameterized expression model of the hydraulic support at the control back end, and solving the deduced posture of each component of the hydraulic support; The control module is used to synchronize the deduced postures of the various components to the control front end through shared memory, so that the control front end controls the support state of the hydraulic support according to the deduced postures of the various components.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the hydraulic support support state control method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for controlling the support state of a hydraulic support as described in any one of claims 1 to 7 is implemented.

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