Method for determining positions of hydraulic support and scraper conveyor and electronic equipment

Abstract

The invention provides a method for determining the positions of hydraulic supports and a scraper conveyor and electronic equipment, the scraper conveyor is mechanically connected with a plurality of hydraulic supports through a plurality of pin shafts, the hydraulic supports are connected with the pin shafts in a one-to-one correspondence mode, and the method comprises the steps that stroke values corresponding to the hydraulic supports are obtained; according to the stroke values corresponding to the support combination, the stroke slope corresponding to the support combination is determined, and the support combination comprises a preset number of adjacent hydraulic supports; determining an absolute value of a difference value between the stroke slope and the bending section slope as a target difference value; under the condition that the target difference value is smaller than a preset difference value, the portion, connected with the support combination, of the scraper conveyor is determined to be a bent section in the scraper conveyor; and the position of the scraper conveyor is determined at least according to the bent section, and the position of the hydraulic support is determined according to the position of the scraper conveyor and the stroke values. The problem that position determination is inaccurate due to the fact that position determination of the scraper conveyor depends on multi-source complex data in the prior art is solved.

Description

Technical Field

[0001] The present application relates to the field of coal mining technology, and in particular to a method for determining the positions of a hydraulic support and a scraper conveyor, a computer-readable storage medium, a computer program product, and an electronic device. Background Art

[0002] Scraper conveyor, referred to as scraper in the industry, is an indispensable core equipment for comprehensive mechanized coal mining face. The stability of its operation is directly related to the safety and efficiency of coal mining operations. This equipment not only undertakes the key task of transmitting coal from the mining point to the conveying system, but also serves as the travel path of coal mining machinery and the support basis for the precise positioning and advancement of hydraulic supports. The scraper is a flexible system composed of a series of middle trough components flexibly connected, which can span an operating area of ​​hundreds of meters. However, in the process of these middle troughs pushing and connecting with each other, a specific transition area will be formed, namely the curved section area.

[0003] At present, the hydraulic supports of comprehensive mining working faces are routinely equipped with push travel sensors to measure the travel distance of the support push rod, and judge the relative distance between the support and the middle groove of the scraper based on this. How to judge the position and posture of the scraper conveyor at any time, there are currently a variety of known technologies, which mainly rely on the combination of sensors, mathematical models and intelligent algorithms. The following are some of the main technical means: 1) Inertial navigation technology and sensor fusion: Technical principle: Use inertial navigation devices (such as gyroscopes, accelerometers, etc.) sensor equipment to collect the attitude information of the coal mining machine. Since the coal mining machine rides on the scraper conveyor, the straightness data of the scraper conveyor can be approximately obtained; 2) Digital twin technology and machine vision: Technical principle: By analyzing the structure of the scraper machine and the coordination method between the hydraulic support and the scraper machine during the frame shifting process, the scraper machine angle formation process is obtained, and the S-bend angle is calculated by deriving relevant parameters and formulas to obtain the scraper machine mechanism model. The error caused by the pull-out frame's reversal is calculated through machine vision methods to obtain twin data: an industrial vision measurement system is used for image acquisition, and the error caused by the pull-out frame's reversal is obtained by processing image feature points and calculating errors. The twin model is then corrected to achieve virtual-real mapping.

[0004] In summary, the virtual-real mapping and control method of the S-bend of the fully-mechanized scraper based on digital twins builds a model of the S-bend mechanism of the scraper conveyor, then processes abnormal data, and then combines machine vision methods to correct data and calculate feature angles. The whole process is complicated, and the actual video images of the underground working face have unfavorable factors such as dust and water mist. It is difficult to see the scraper conveyor with the naked eye, and the video image is greatly affected by the camera installation position and ambient lighting, and it is difficult to output appropriate data results in the end. The twin scraper simulation method of the digital system of the fully-mechanized working face based on the spline interpolation method uses the push stroke sensor data, inertial navigation system data and terrain data to calculate the position and posture of the scraper conveyor. However, after the inertial navigation equipment has been running for a long time, it is easy to produce cumulative errors, resulting in inaccurate data and terrain data. There is no specific description of which data is which and how to obtain it. Summary of the invention

[0005] The main purpose of the present application is to provide a method for determining the positions of a hydraulic support and a scraper conveyor, a computer-readable storage medium, a computer program product and an electronic device, so as to at least solve the problem in the prior art that the position determination of a scraper conveyor depends on complex data from multiple sources, resulting in inaccurate position determination.

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a method for determining the position of a hydraulic support and a scraper conveyor is provided, wherein the scraper conveyor is mechanically connected to a plurality of hydraulic supports through a plurality of pins, and the hydraulic supports are connected to the pins one by one, and the method comprises: obtaining a stroke value corresponding to each of the hydraulic supports, the stroke value representing the relative distance between the hydraulic support and the scraper conveyor; determining a stroke slope corresponding to the support combination according to each of the stroke values ​​corresponding to the support combination, the support combination comprising a predetermined number of adjacent hydraulic supports, the stroke slope representing the relative distance between the hydraulic support and the scraper conveyor in the support combination according to the hydraulic support. The variation trend between the stroke values ​​corresponding to the arrangement order of the supports; determining the absolute value of the difference between the stroke slope and the curved section slope as the target difference, wherein the curved section slope is L / S, S represents the predetermined number, and L represents the maximum stroke that can be achieved when the hydraulic support performs a pushing and sliding action; when the target difference is less than the predetermined difference, determining that the part of the scraper conveyor to which the support combination is connected is the curved section in the scraper conveyor; determining the position of the scraper conveyor at least based on the curved section, and determining the position of the hydraulic support based on the position of the scraper conveyor and each of the stroke values.

[0007] Optionally, determining the stroke slope corresponding to the bracket combination according to each stroke value corresponding to the bracket combination includes: determining the ratio of the stroke difference to the number of brackets as the stroke slope, wherein the stroke difference represents the difference between the stroke value corresponding to the first bracket and the stroke value corresponding to the second bracket, the number of brackets represents the sum of the number of the first bracket, the second bracket and all the third brackets, the third bracket represents the hydraulic bracket between the first bracket and the second bracket, the first bracket represents the hydraulic bracket corresponding to the largest stroke value among the stroke values ​​corresponding to the bracket combination, the second bracket represents the hydraulic bracket corresponding to the smallest stroke value among the stroke values ​​corresponding to the bracket combination, the stroke value corresponding to the third bracket is smaller than the stroke value corresponding to the first bracket, and the stroke value corresponding to the third bracket is larger than the stroke value corresponding to the second bracket.

[0008] Optionally, obtaining the stroke value corresponding to each of the hydraulic supports includes: obtaining the initial stroke value corresponding to each of the hydraulic supports at the current moment; determining the hydraulic support whose initial stroke value is abnormal or missing as an abnormal support, determining the hydraulic support whose initial stroke value is not missing and has no abnormality as a normal support, and determining that the initial stroke value corresponding to the normal support is the stroke value corresponding to the normal support; correcting the initial stroke value corresponding to the abnormal support at least based on the historical change data corresponding to each of the normal supports to obtain the stroke value corresponding to the abnormal support, wherein the historical change data represents the change in the historical stroke value corresponding to the process of the normal support performing the pulling action and the pushing action at the historical moment.

[0009] Optionally, before correcting the initial stroke value corresponding to the abnormal support, the method further includes: obtaining the pulling change speed of the historical stroke value of the normal support when performing the pulling action, wherein the pulling change speed is Vx=(BA) / Tx, Vx<0, Vx represents the pulling change speed, B represents the historical stroke value corresponding to the completion of the pulling action, A represents the historical stroke value corresponding to before the pulling action is performed, and Tx represents the duration of the pulling action; obtaining the pushing change speed of the historical stroke value of the normal support when performing the pushing action, wherein the pushing change speed is Vy=(DC) / Ty, Vy>0, Vy represents the pushing change speed, D represents the historical stroke value corresponding to the completion of the pushing action, C represents the historical stroke value corresponding to before the pushing action is performed, Ty represents the duration of the pushing action, and the pulling change speed and the pushing change speed constitute the historical change data.

[0010] Optionally, the initial stroke value corresponding to the abnormal bracket is corrected at least according to the historical change data corresponding to each of the normal brackets, including: calculating the average value of the pulling bracket change speed of all the normal brackets to obtain the average pulling bracket change speed; calculating the average value of the pushing and sliding change speed of all the normal brackets to obtain the average pushing and sliding change speed; obtaining the action change of the abnormal bracket, the action change including the pulling bracket action or the pushing and sliding action; when the action change represents the pulling bracket action, the initial stroke value is corrected according to the average pulling bracket change speed; when the action change represents the pushing and sliding action, the initial stroke value is corrected according to the average pushing and sliding change speed.

[0011] Optionally, obtaining the pulling change speed of the historical stroke value of the normal bracket when performing the pulling action includes: determining the duration of the time period in which the historical stroke value changes when the normal bracket performs the pulling action as the duration Tx of the pulling action; determining the pulling change speed according to the formula Vx=(BA) / Tx; obtaining the pushing and sliding change speed of the historical stroke value of the normal bracket when performing the pushing and sliding action includes: determining the duration of the time period in which the historical stroke value changes when the normal bracket performs the pushing and sliding action as the duration Ty of the pushing and sliding action; determining the pushing and sliding change speed according to the formula Vy=(DC) / Ty.

[0012] Optionally, obtaining the stroke value corresponding to each of the hydraulic supports includes: obtaining each of the stroke values ​​using a stroke sensor installed on each of the hydraulic supports.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, the computer-readable storage medium comprising a stored program, wherein when the program is run, the device where the computer-readable storage medium is located is controlled to execute any one of the methods for determining the positions of the hydraulic support and the scraper conveyor.

[0014] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the methods for determining the positions of the hydraulic support and the scraper conveyor is implemented.

[0015] According to another aspect of the present application, an electronic device is provided, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for executing any one of the methods for determining the positions of the hydraulic support and the scraper conveyor.

[0016] By applying the technical solution of the present application, a scraper conveyor is mechanically connected to a plurality of hydraulic supports through a plurality of pins, and the hydraulic supports are connected to the pins one by one. First, the stroke value corresponding to each hydraulic support is obtained, and then the stroke slope corresponding to the support combination is determined according to the stroke values ​​corresponding to the support combination, and then the absolute value of the difference between the stroke slope and the slope of the curved section is determined as the target difference, and when the target difference is less than the predetermined difference, it is determined that the part of the scraper conveyor connected to the support combination is the curved section in the scraper conveyor, and finally, the position of the scraper conveyor is determined at least according to the curved section, and the position of the hydraulic support is determined according to the position of the scraper conveyor and the stroke values. Compared with the problem of inaccurate position determination caused by reliance on multi-source complex data in the prior art for position determination of scraper conveyors, the present application obtains the stroke value corresponding to each hydraulic support and identifies the curved section of the scraper conveyor based on the stroke value. By determining the position of the curved section, the overall position and posture of the scraper conveyor can be determined. The positions of the scraper conveyor and the hydraulic support are determined based on the curved section and the stroke values, ensuring that the positions of the scraper conveyor and the hydraulic support can be determined solely by the push stroke data (i.e., the stroke value) without relying on inertial navigation data and video image data, thereby ensuring that the determined positions of the scraper conveyor and the hydraulic support are highly accurate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The drawings constituting part of the present application are used to provide a further understanding of the present application. The illustrative embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0018] Figure 1 A hardware structure block diagram of a mobile terminal for executing a method for determining the positions of a hydraulic support and a scraper conveyor provided in an embodiment of the present application is shown;

[0019] Figure 2 A schematic flow chart of a method for determining the positions of a hydraulic support and a scraper conveyor provided according to an embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram of the stroke value of a decreasing curved section of a scraper conveyor provided according to an embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram of the stroke value of an incremental bending section of a scraper conveyor provided according to an embodiment of the present application is shown;

[0022] Figure 5 A schematic top view of a scraper conveyor and a coal wall provided according to an embodiment of the present application is shown;

[0023] Figure 6 A schematic diagram of the stroke value of a scraper conveyor when it is pushed straightened according to an embodiment of the present application is shown.

[0024] The above drawings include the following reference numerals:

[0025] 102, processor; 104, memory; 106, transmission device; 108, input and output devices. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0027] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of this application.

[0028] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0029] As introduced in the background technology, the position determination of the scraper conveyor in the prior art relies on multi-source complex data, resulting in inaccurate position determination. To solve the above problem, the embodiments of the present application provide a method for determining the position of a hydraulic support and a scraper conveyor, a computer-readable storage medium, a computer program product and an electronic device.

[0030] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0031] The method embodiments provided in the embodiments of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for determining the position of a hydraulic support and a scraper conveyor according to an embodiment of the present invention. Figure 1As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0032] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the method for determining the position of the hydraulic support and the scraper conveyor in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, the above method is implemented. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0033] In this embodiment, a method for determining the position of a hydraulic support and a scraper conveyor running on a mobile terminal, a computer terminal or a similar computing device is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0034] Figure 21 is a flow chart of a method for determining the position of a hydraulic support and a scraper conveyor according to an embodiment of the present application. The scraper conveyor is mechanically connected to a plurality of hydraulic supports through a plurality of pins, and the hydraulic supports are connected to the pins one by one, such as Figure 2 As shown, the method comprises the following steps:

[0035] Step S201, obtaining a stroke value corresponding to each of the hydraulic supports, wherein the stroke value represents a relative distance between the hydraulic support and the scraper conveyor;

[0036] Step S202, determining a stroke slope corresponding to the support combination according to each of the stroke values ​​corresponding to the support combination, wherein the support combination includes a predetermined number of adjacent hydraulic supports, and the stroke slope represents a change trend between each of the stroke values ​​corresponding to the arrangement sequence of the hydraulic supports in the support combination;

[0037] Step S203, determining the absolute value of the difference between the stroke slope and the curved section slope as a target difference, wherein the curved section slope is L / S, S represents the predetermined number, and L represents the maximum stroke that can be achieved when the hydraulic support performs a push-and-slide action;

[0038] Step S204, when the target difference is less than the predetermined difference, determining that the portion of the scraper conveyor to which the bracket assembly is connected is a curved section in the scraper conveyor;

[0039] Step S205, determining the position of the scraper conveyor at least according to the curved section, and determining the position of the hydraulic support according to the position of the scraper conveyor and the stroke values.

[0040] Through the above embodiment, the scraper conveyor is mechanically connected to the multiple hydraulic supports through multiple pins, and the hydraulic supports are connected to the pins one by one. First, the stroke value corresponding to each hydraulic support is obtained, and then the stroke slope corresponding to the support combination is determined according to the stroke values ​​corresponding to the support combination, and then the absolute value of the difference between the stroke slope and the curved section slope is determined as the target difference. When the target difference is less than the predetermined difference, it is determined that the part of the scraper conveyor connected to the support combination is the curved section in the scraper conveyor. Finally, the position of the scraper conveyor is determined at least according to the curved section, and the position of the hydraulic support is determined according to the position of the scraper conveyor and the stroke values. Compared with the problem of inaccurate position determination caused by reliance on multi-source complex data in the prior art for position determination of scraper conveyors, the present application obtains the stroke value corresponding to each hydraulic support and identifies the curved section of the scraper conveyor based on the stroke value. By determining the position of the curved section, the overall position and posture of the scraper conveyor can be determined. The positions of the scraper conveyor and the hydraulic support are determined based on the curved section and the stroke values, ensuring that the positions of the scraper conveyor and the hydraulic support can be determined solely by the push stroke data (i.e., the stroke value) without relying on inertial navigation data and video image data, thereby ensuring that the determined positions of the scraper conveyor and the hydraulic support are highly accurate.

[0041] In actual application, technicians in this field can set the above-mentioned predetermined number and the above-mentioned predetermined difference based on empirical values, or obtain them through multiple experiments. This application does not impose specific restrictions on this.

[0042] Specifically, when the fully mechanized mining and following machine process is executed normally, the flexible scraper conveyor has two forms: straightening state and bending section state. Figure 3 As shown in the figure, the bending section in the stroke data chart has a similar linear decreasing trend. The horizontal axis represents the frame number of the hydraulic support, and the vertical axis represents the stroke value corresponding to the hydraulic support, that is, Figure 3 The figure shows the decreasing curved section in the corresponding support moving stroke of the scraper conveyor. Figure 4 As shown in the figure, the bending section in the stroke data chart has a similar linear increasing trend. The horizontal axis represents the frame number of the hydraulic support, and the vertical axis represents the stroke value corresponding to the hydraulic support, that is, Figure 4 The diagram shows the incremental bending section in the corresponding support displacement stroke of the scraper conveyor.

[0043] In an optional solution, according to each of the above-mentioned stroke values ​​corresponding to the support combination, the stroke slope corresponding to the above-mentioned support combination is determined, including: determining the ratio of the stroke difference to the number of supports as the above-mentioned stroke slope, wherein the above-mentioned stroke difference represents the difference between the above-mentioned stroke value corresponding to the first support and the above-mentioned stroke value corresponding to the second support, the above-mentioned number of supports represents the sum of the number of the above-mentioned first support, the above-mentioned second support and all the third supports, the above-mentioned third support represents the above-mentioned hydraulic support between the above-mentioned first support and the above-mentioned second support, the above-mentioned first support represents the above-mentioned hydraulic support corresponding to the largest stroke value among the above-mentioned stroke values ​​corresponding to the above-mentioned support combination, the above-mentioned second support represents the above-mentioned hydraulic support corresponding to the smallest stroke value among the above-mentioned stroke values ​​corresponding to the above-mentioned support combination, the above-mentioned stroke value corresponding to the above-mentioned third support is smaller than the above-mentioned stroke value corresponding to the above-mentioned first support, and the above-mentioned stroke value corresponding to the above-mentioned third support is larger than the above-mentioned stroke value corresponding to the above-mentioned second support. In this embodiment, by calculating the stroke slope, the relative position between the hydraulic support and the scraper conveyor can be determined more accurately.

[0044] Specifically, in order to abstract the bending segment from a graphical visualization phenomenon into a mathematical model that can be understood by a computer, the following parameter definitions are performed: the length of the bending segment (i.e., the number of hydraulic supports corresponding to the bending segment) is set to S (in units of frames), and the full stroke of the support is set to L (in units of mm). Then, within the range from the start to the end of the bending segment, the stroke data change (i.e., the stroke value change) can be approximated by a straight line fitting, the slope of the decreasing bending segment is -L / S, and the slope of the increasing bending segment is L / S.

[0045] Specifically, when the working surface is in production, the stroke data (i.e., stroke value) of all hydraulic supports are monitored cyclically, and the slope within the length range of S (i.e., stroke slope) is calculated and compared with the slope of the curved section. If they are close, it is considered that the current scraper conveyor has a curved section. Figure 5 As shown in the figure, after the curved section of the scraper conveyor is identified, the side with a larger stroke value of the curved section is closer to the coal wall, and the side with a smaller stroke value lags behind by a full stroke distance L. Based on this, the position of the scraper conveyor is determined, and then the position of the hydraulic support is determined according to the stroke value. Figure 5 Where S represents the length of the bending section (i.e. the number of hydraulic supports corresponding to the bending section).

[0046] Specifically, when the scraper conveyor has no curved section, that is, when it is pushed straight, the scraper conveyor remains straight. Figure 6 As shown in the figure, except for the hydraulic supports at the head and tail of the machine, whose stroke value is near 0 due to the advance support, the other hydraulic supports in the middle are generally at full stroke. At this time, the position of the hydraulic supports is determined according to the stroke value. Figure 6 The horizontal axis represents the frame number of the hydraulic support, and the vertical axis represents the stroke value corresponding to the hydraulic support, that is, Figure 6It shows the travel distance of the scraper conveyor (i.e. scraper machine) when it is pushed straight.

[0047] In other embodiments, obtaining the stroke value corresponding to each of the above-mentioned hydraulic supports includes: obtaining the initial stroke value corresponding to each of the above-mentioned hydraulic supports at the current moment; determining that the above-mentioned hydraulic supports with abnormal or missing initial stroke values ​​are abnormal supports, determining that the above-mentioned hydraulic supports with no missing initial stroke values ​​and no abnormalities are normal supports, and determining that the above-mentioned initial stroke value corresponding to the above-mentioned normal supports is the above-mentioned stroke value corresponding to the above-mentioned normal supports; at least according to the historical change data corresponding to each of the above-mentioned normal supports, the above-mentioned initial stroke value corresponding to the above-mentioned abnormal supports is corrected to obtain the above-mentioned stroke value corresponding to the above-mentioned abnormal supports, wherein the above-mentioned historical change data characterizes the change of the corresponding historical stroke value during the process of the above-mentioned normal supports performing the pulling action and the above-mentioned pushing action at the historical moment. In this embodiment, by real-time acquisition and abnormality detection of the stroke value of the hydraulic supports, it can be ensured that the collected data is accurate and reliable, and for those hydraulic supports (abnormal supports) with abnormal or missing initial stroke values, they can be identified and specially processed, thereby avoiding the influence of erroneous data on the overall analysis, that is, by dividing the hydraulic supports into normal supports and abnormal supports, and correcting the data for the abnormal supports, it can continue to operate in the case of incomplete data or abnormalities, thereby enhancing the robustness of the system.

[0048] Specifically, if the initial stroke value is greater than L, it is considered that the initial stroke value is abnormal.

[0049] In some other optional schemes, before correcting the above-mentioned initial stroke value corresponding to the above-mentioned abnormal bracket, the above-mentioned method also includes: obtaining the pulling rack change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pulling rack action, wherein the above-mentioned pulling rack change speed is Vx=(BA) / Tx, Vx<0, Vx represents the above-mentioned pulling rack change speed, B represents the above-mentioned historical stroke value corresponding to the completion of the above-mentioned pulling rack action, A represents the above-mentioned historical stroke value corresponding to before the above-mentioned pulling rack action is not performed, and Tx represents the duration of the above-mentioned pulling rack action; obtaining the pushing and sliding change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the pushing and sliding action, wherein the above-mentioned pushing and sliding change speed is Vy=(DC) / Ty, Vy>0, Vy represents the above-mentioned pushing and sliding change speed, D represents the above-mentioned historical stroke value corresponding to the completion of the above-mentioned pushing and sliding action, C represents the above-mentioned historical stroke value corresponding to before the above-mentioned pushing and sliding action is not performed, Ty represents the above-mentioned duration of the above-mentioned pushing and sliding action, and the above-mentioned pulling rack change speed and the above-mentioned pushing and sliding change speed constitute the above-mentioned historical change data. In this embodiment, by analyzing the historical stroke value change speed of the normal support when performing the pulling action and the pushing action, the initial stroke value of the abnormal support can be more accurately predicted and corrected, thereby further ensuring the accuracy of the obtained hydraulic support and scraper conveyor position.

[0050] In some further optional schemes, the initial stroke value corresponding to the abnormal bracket is corrected at least according to the historical change data corresponding to each of the normal brackets, including: calculating the average value of the pulling bracket change speed of all the normal brackets to obtain the average pulling bracket change speed; calculating the average value of the pushing and sliding change speed of all the normal brackets to obtain the average pushing and sliding change speed; obtaining the action change of the abnormal bracket, the action change includes the pulling bracket action or the pushing and sliding action; in the case where the action change represents the pulling bracket action, the initial stroke value is corrected according to the average pulling bracket change speed; in the case where the action change represents the pushing and sliding action, the initial stroke value is corrected according to the average pushing and sliding change speed. In this embodiment, by analyzing the historical change data of the normal brackets and calculating the average pulling bracket change speed and the average pushing and sliding change speed, an accurate reference basis can be provided for the correction of the stroke value of the abnormal bracket, thereby further improving the data accuracy of the entire system.

[0051] Specifically, the specific steps for cleaning the initial stroke value are: 1) Identify the situation where the stroke data (i.e., stroke value) is missing or the value is abnormal, and mark the frame number of the corresponding hydraulic support; 2) Continuously record the data of the hydraulic support whose historical stroke value has changed correctly into the database (record time, frame number, historical stroke value). In order to reduce the disk usage of redundant data, the data is recorded only when the historical stroke value changes; 3) Record the pushing, sliding, and pulling action data of the hydraulic support with the frame number corresponding to 2) into the time series database (record time, frame number, pushing, sliding, and pulling action). In order to reduce the disk usage of redundant data, the data is recorded only when the action is executed; 4) Compare the data of 2) and 3). When the hydraulic support responds to the pulling action, the historical stroke value becomes smaller. Assuming that the pulling action lasts for Tx, and the historical stroke value changes from A to B, then the hydraulic support The speed of change of the historical stroke value when performing the pulling action is Vx=(BA) / Tx, Vx<0, unit mm / s; 5), comparing the data of 2) and 3), when a hydraulic support responds to the pushing action, the historical stroke value becomes larger. Assuming that the pushing action lasts for Ty, the historical stroke value changes from C to D, then the speed of change of the historical stroke value of the hydraulic support when performing the pushing action is Vy=(DC) / Ty, Vy>0, unit mm / s; 6), according to 4) and 5), calculate the pulling and pushing stroke change speeds of all normal supports whose historical stroke values ​​can change correctly, and calculate the average value (i.e., the average pulling change speed and the average pushing change speed); 7), for abnormal supports, monitor the action changes of the abnormal support, and when the abnormal support performs the pushing action or the pulling action, fit the change of the stroke value according to the average pushing change speed or the average pulling change speed.

[0052] In some exemplary embodiments, obtaining the pulling change speed of the above-mentioned historical stroke value when the above-mentioned normal support performs the above-mentioned pulling action includes: determining the duration of the time period in which the above-mentioned historical stroke value changes during the process of the above-mentioned normal support performing the above-mentioned pulling action as the above-mentioned duration Tx of the above-mentioned pulling action; determining the above-mentioned pulling change speed according to the formula Vx=(BA) / Tx, and obtaining the pushing and sliding change speed of the above-mentioned historical stroke value when the above-mentioned normal support performs the above-mentioned pushing and sliding action includes: determining the duration of the time period in which the above-mentioned historical stroke value changes during the process of the above-mentioned normal support performing the above-mentioned pushing and sliding action as the above-mentioned duration Ty of the above-mentioned pushing and sliding action; determining the above-mentioned pushing and sliding change speed according to the formula Vy=(DC) / Ty. In this embodiment, by calculating the duration of the pulling action and the pushing and sliding action, and combining the changes in the historical stroke values, the stroke changes of the hydraulic support when performing these actions can be further accurately calculated.

[0053] Specifically, considering the actual situation that the hydraulic support pushing or pulling action may be stuck due to the unevenness of the bottom plate, and the hydraulic support program monitors that the historical stroke value has not reached the target value, resulting in a continuous extension of the action time, that is, the action duration Tx and Ty in 4) and 5) are inaccurate. Therefore, in the calculation process of 4) and 5), it is necessary to compare the time period of the historical stroke value change with the time period of the action execution, and cut out the area where the two times overlap (that is, the time period of the historical stroke value change) as the effective time.

[0054] Specifically, when the geological conditions of the working face change, resulting in changes in the duration and speed of the hydraulic support's pushing or pulling action, the algorithm will also calculate the average pulling change speed or the average pushing change speed that is suitable for the current working face to ensure the accuracy of the fitting results.

[0055] In some other exemplary embodiments, obtaining the stroke value corresponding to each of the above-mentioned hydraulic supports includes: obtaining each of the above-mentioned stroke values ​​using a stroke sensor installed on each of the above-mentioned hydraulic supports. In this embodiment, by installing a stroke sensor on the hydraulic support, the stroke change of the hydraulic support can be monitored in real time to obtain an accurate stroke value, which helps to further determine the precise position of the hydraulic support and the scraper conveyor.

[0056] Specifically, this application calculates the position of the scraper conveyor and the hydraulic support based on the stroke data (i.e., stroke value) of the comprehensive mining working face. For missing or abnormal stroke data, the method of calculating the average pull-up change speed and the average push-down change speed of the normal support is used to perform data fitting to solve the problem that the position determination of the scraper conveyor depends on multi-source complex data. A method for determining the position of the scraper conveyor and the hydraulic support based on stroke data alone is designed, which has universal applicability; a data cleaning method for situations where stroke data is missing or the value is abnormal is designed, and it can adapt to the impact of changes in the production environment of the working face on the data, thereby improving the robustness of the overall algorithm.

[0057] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0058] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the method for determining the positions of the hydraulic support and the scraper conveyor.

[0059] Specifically, the scraper conveyor is mechanically connected to a plurality of hydraulic supports through a plurality of pins, the hydraulic supports are connected to the pins one by one, and the method for determining the positions of the hydraulic supports and the scraper conveyor includes:

[0060] Step S201, obtaining a stroke value corresponding to each of the hydraulic supports, wherein the stroke value represents a relative distance between the hydraulic support and the scraper conveyor;

[0061] Step S202, determining a stroke slope corresponding to the support combination according to each of the stroke values ​​corresponding to the support combination, wherein the support combination includes a predetermined number of adjacent hydraulic supports, and the stroke slope represents a change trend between each of the stroke values ​​corresponding to the arrangement sequence of the hydraulic supports in the support combination;

[0062] Step S203, determining the absolute value of the difference between the stroke slope and the curved section slope as a target difference, wherein the curved section slope is L / S, S represents the predetermined number, and L represents the maximum stroke that can be achieved when the hydraulic support performs a push-and-slide action;

[0063] Step S204, when the target difference is less than the predetermined difference, determining that the portion of the scraper conveyor to which the bracket assembly is connected is a curved section in the scraper conveyor;

[0064] Step S205, determining the position of the scraper conveyor at least according to the curved section, and determining the position of the hydraulic support according to the position of the scraper conveyor and the stroke values.

[0065] Optionally, according to the above-mentioned stroke values ​​corresponding to the bracket combination, the stroke slope corresponding to the above-mentioned bracket combination is determined, including: determining the ratio of the stroke difference to the number of brackets as the above-mentioned stroke slope, wherein the above-mentioned stroke difference represents the difference between the above-mentioned stroke value corresponding to the first bracket and the above-mentioned stroke value corresponding to the second bracket, the above-mentioned number of brackets represents the sum of the numbers of the above-mentioned first bracket, the above-mentioned second bracket and all the third brackets, the above-mentioned third bracket represents the above-mentioned hydraulic bracket between the above-mentioned first bracket and the above-mentioned second bracket, the above-mentioned first bracket represents the above-mentioned hydraulic bracket corresponding to the largest stroke value among the above-mentioned stroke values ​​corresponding to the above-mentioned bracket combination, the above-mentioned second bracket represents the above-mentioned hydraulic bracket corresponding to the smallest stroke value among the above-mentioned stroke values ​​corresponding to the above-mentioned bracket combination, the above-mentioned stroke value corresponding to the above-mentioned third bracket is smaller than the above-mentioned stroke value corresponding to the above-mentioned first bracket, and the above-mentioned stroke value corresponding to the above-mentioned third bracket is larger than the above-mentioned stroke value corresponding to the above-mentioned second bracket.

[0066] Optionally, obtaining the stroke value corresponding to each of the above-mentioned hydraulic supports includes: obtaining the initial stroke value corresponding to each of the above-mentioned hydraulic supports at the current moment; determining the above-mentioned hydraulic supports whose initial stroke values ​​are abnormal or missing as abnormal supports, determining the above-mentioned hydraulic supports whose initial stroke values ​​are not missing and have no abnormalities as normal supports, and determining that the above-mentioned initial stroke value corresponding to the above-mentioned normal supports is the above-mentioned stroke value corresponding to the above-mentioned normal supports; correcting the above-mentioned initial stroke value corresponding to the above-mentioned abnormal supports at least according to the historical change data corresponding to each of the above-mentioned normal supports to obtain the above-mentioned stroke value corresponding to the above-mentioned abnormal supports, wherein the above-mentioned historical change data represent the changes in the historical stroke values ​​corresponding to the process of the above-mentioned normal supports performing the pulling action and the above-mentioned pushing action at the historical moment.

[0067] Optionally, before correcting the above-mentioned initial stroke value corresponding to the above-mentioned abnormal bracket, the above-mentioned method also includes: obtaining the pulling rack change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pulling rack action, wherein the above-mentioned pulling rack change speed is Vx=(BA) / Tx, Vx<0, Vx represents the above-mentioned pulling rack change speed, B represents the above-mentioned historical stroke value corresponding to the completion of the above-mentioned pulling rack action, A represents the above-mentioned historical stroke value corresponding to before the above-mentioned pulling rack action is not performed, and Tx represents the duration of the above-mentioned pulling rack action; obtaining the pushing and sliding change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the pushing and sliding action, wherein the above-mentioned pushing and sliding change speed is Vy=(DC) / Ty, Vy>0, Vy represents the above-mentioned pushing and sliding change speed, D represents the above-mentioned historical stroke value corresponding to the completion of the above-mentioned pushing and sliding action, C represents the above-mentioned historical stroke value corresponding to before the above-mentioned pushing and sliding action is not performed, Ty represents the above-mentioned duration of the above-mentioned pushing and sliding action, and the above-mentioned pulling rack change speed and the above-mentioned pushing and sliding change speed constitute the above-mentioned historical change data.

[0068] Optionally, the initial stroke value corresponding to the abnormal bracket is corrected at least according to the historical change data corresponding to each of the normal brackets, including: calculating the average value of the pulling bracket change speeds of all the normal brackets to obtain the average pulling bracket change speed; calculating the average value of the pushing and sliding change speeds of all the normal brackets to obtain the average pushing and sliding change speed; obtaining the action change of the abnormal bracket, the action change including the pulling bracket action or the pushing and sliding action; in the case where the action change represents the pulling bracket action, the initial stroke value is corrected according to the average pulling bracket change speed; in the case where the action change represents the pushing and sliding action, the initial stroke value is corrected according to the average pushing and sliding change speed.

[0069] Optionally, obtaining the pulling change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pulling action includes: determining the duration of the time period during which the above-mentioned historical stroke value changes in the process of the above-mentioned normal bracket performing the above-mentioned pulling action as the above-mentioned duration Tx of the above-mentioned pulling action; determining the above-mentioned pulling change speed according to the formula Vx=(BA) / Tx, and obtaining the pushing and sliding change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pushing and sliding action includes: determining the duration of the time period during which the above-mentioned historical stroke value changes in the process of the above-mentioned normal bracket performing the above-mentioned pushing and sliding action as the above-mentioned duration Ty of the above-mentioned pushing and sliding action; determining the above-mentioned pushing and sliding change speed according to the formula Vy=(DC) / Ty.

[0070] Optionally, obtaining the stroke value corresponding to each of the above-mentioned hydraulic supports includes: obtaining each of the above-mentioned stroke values ​​using a stroke sensor installed on each of the above-mentioned hydraulic supports.

[0071] The present application also provides a computer program product, including computer instructions, which, when executed by a processor, at least implement the following method steps:

[0072] Optionally, according to the above-mentioned stroke values ​​corresponding to the bracket combination, the stroke slope corresponding to the above-mentioned bracket combination is determined, including: determining the ratio of the stroke difference to the number of brackets as the above-mentioned stroke slope, wherein the above-mentioned stroke difference represents the difference between the above-mentioned stroke value corresponding to the first bracket and the above-mentioned stroke value corresponding to the second bracket, the above-mentioned number of brackets represents the sum of the numbers of the above-mentioned first bracket, the above-mentioned second bracket and all the third brackets, the above-mentioned third bracket represents the above-mentioned hydraulic bracket between the above-mentioned first bracket and the above-mentioned second bracket, the above-mentioned first bracket represents the above-mentioned hydraulic bracket corresponding to the largest stroke value among the above-mentioned stroke values ​​corresponding to the above-mentioned bracket combination, the above-mentioned second bracket represents the above-mentioned hydraulic bracket corresponding to the smallest stroke value among the above-mentioned stroke values ​​corresponding to the above-mentioned bracket combination, the above-mentioned stroke value corresponding to the above-mentioned third bracket is smaller than the above-mentioned stroke value corresponding to the above-mentioned first bracket, and the above-mentioned stroke value corresponding to the above-mentioned third bracket is larger than the above-mentioned stroke value corresponding to the above-mentioned second bracket.

[0073] Optionally, obtaining the stroke value corresponding to each of the above-mentioned hydraulic supports includes: obtaining the initial stroke value corresponding to each of the above-mentioned hydraulic supports at the current moment; determining the above-mentioned hydraulic supports whose initial stroke values ​​are abnormal or missing as abnormal supports, determining the above-mentioned hydraulic supports whose initial stroke values ​​are not missing and have no abnormalities as normal supports, and determining that the above-mentioned initial stroke value corresponding to the above-mentioned normal supports is the above-mentioned stroke value corresponding to the above-mentioned normal supports; correcting the above-mentioned initial stroke value corresponding to the above-mentioned abnormal supports at least according to the historical change data corresponding to each of the above-mentioned normal supports to obtain the above-mentioned stroke value corresponding to the above-mentioned abnormal supports, wherein the above-mentioned historical change data represent the changes in the historical stroke values ​​corresponding to the process of the above-mentioned normal supports performing the pulling action and the above-mentioned pushing action at the historical moment.

[0074] Optionally, before correcting the above-mentioned initial stroke value corresponding to the above-mentioned abnormal bracket, the above-mentioned method also includes: obtaining the pulling rack change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pulling rack action, wherein the above-mentioned pulling rack change speed is Vx=(BA) / Tx, Vx<0, Vx represents the above-mentioned pulling rack change speed, B represents the above-mentioned historical stroke value corresponding to the completion of the above-mentioned pulling rack action, A represents the above-mentioned historical stroke value corresponding to before the above-mentioned pulling rack action is not performed, and Tx represents the duration of the above-mentioned pulling rack action; obtaining the pushing and sliding change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the pushing and sliding action, wherein the above-mentioned pushing and sliding change speed is Vy=(DC) / Ty, Vy>0, Vy represents the above-mentioned pushing and sliding change speed, D represents the above-mentioned historical stroke value corresponding to the completion of the above-mentioned pushing and sliding action, C represents the above-mentioned historical stroke value corresponding to before the above-mentioned pushing and sliding action is not performed, Ty represents the above-mentioned duration of the above-mentioned pushing and sliding action, and the above-mentioned pulling rack change speed and the above-mentioned pushing and sliding change speed constitute the above-mentioned historical change data.

[0075] Optionally, the initial stroke value corresponding to the abnormal bracket is corrected at least according to the historical change data corresponding to each of the normal brackets, including: calculating the average value of the pulling bracket change speeds of all the normal brackets to obtain the average pulling bracket change speed; calculating the average value of the pushing and sliding change speeds of all the normal brackets to obtain the average pushing and sliding change speed; obtaining the action change of the abnormal bracket, the action change including the pulling bracket action or the pushing and sliding action; in the case where the action change represents the pulling bracket action, the initial stroke value is corrected according to the average pulling bracket change speed; in the case where the action change represents the pushing and sliding action, the initial stroke value is corrected according to the average pushing and sliding change speed.

[0076] Optionally, obtaining the pulling change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pulling action includes: determining the duration of the time period during which the above-mentioned historical stroke value changes in the process of the above-mentioned normal bracket performing the above-mentioned pulling action as the above-mentioned duration Tx of the above-mentioned pulling action; determining the above-mentioned pulling change speed according to the formula Vx=(BA) / Tx, and obtaining the pushing and sliding change speed of the above-mentioned historical stroke value when the above-mentioned normal bracket performs the above-mentioned pushing and sliding action includes: determining the duration of the time period during which the above-mentioned historical stroke value changes in the process of the above-mentioned normal bracket performing the above-mentioned pushing and sliding action as the above-mentioned duration Ty of the above-mentioned pushing and sliding action; determining the above-mentioned pushing and sliding change speed according to the formula Vy=(DC) / Ty.

[0077] Optionally, obtaining the stroke value corresponding to each of the above-mentioned hydraulic supports includes: obtaining each of the above-mentioned stroke values ​​using a stroke sensor installed on each of the above-mentioned hydraulic supports.

[0078] An embodiment of the present application also provides an electronic device, comprising: one or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include methods for executing any one of the above-mentioned methods for determining the positions of the hydraulic support and the scraper conveyor.

[0079] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0080] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0081] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0082] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0083] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0085] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0086] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0088] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0089] In the method for determining the positions of hydraulic supports and scraper conveyors of the present application, the scraper conveyor is mechanically connected to multiple hydraulic supports through multiple pins, and the hydraulic supports are connected to the pins one by one. First, the stroke value corresponding to each hydraulic support is obtained, and then the stroke slope corresponding to the support combination is determined according to the stroke values ​​corresponding to the support combination, and then the absolute value of the difference between the stroke slope and the slope of the curved section is determined as the target difference, and when the target difference is less than the predetermined difference, it is determined that the part of the scraper conveyor connected to the support combination is the curved section in the scraper conveyor, and finally, the position of the scraper conveyor is determined at least according to the curved section, and the position of the hydraulic support is determined according to the position of the scraper conveyor and the stroke values. Compared with the problem of inaccurate position determination caused by reliance on multi-source complex data in the prior art for position determination of scraper conveyors, the present application obtains the stroke value corresponding to each hydraulic support and identifies the curved section of the scraper conveyor based on the stroke value. By determining the position of the curved section, the overall position and posture of the scraper conveyor can be determined. The positions of the scraper conveyor and the hydraulic support are determined based on the curved section and the stroke values, ensuring that the positions of the scraper conveyor and the hydraulic support can be determined solely by the push stroke data (i.e., the stroke value) without relying on inertial navigation data and video image data, thereby ensuring that the determined positions of the scraper conveyor and the hydraulic support are highly accurate.

[0090] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for determining the position of a hydraulic support and a scraper conveyor, characterized in that: The scraper conveyor is mechanically connected to a plurality of hydraulic supports through a plurality of pins, and the hydraulic supports are connected to the pins in a one-to-one correspondence. The method comprises: Acquire a stroke value corresponding to each of the hydraulic supports, wherein the stroke value represents a relative distance between the hydraulic support and the scraper conveyor; Determine, according to each of the stroke values ​​corresponding to the support assembly, a stroke slope corresponding to the support assembly, wherein the support assembly includes a predetermined number of adjacent hydraulic supports, and the stroke slope represents a change trend between each of the stroke values ​​corresponding to the arrangement sequence of the hydraulic supports in the support assembly; Determine the absolute value of the difference between the stroke slope and the curved section slope as a target difference, wherein the curved section slope is L / S, S represents the predetermined number, and L represents the maximum stroke that can be achieved when the hydraulic support performs a push-slide action; When the target difference is less than the predetermined difference, determining that the portion of the scraper conveyor to which the bracket assembly is connected is a curved section in the scraper conveyor; The position of the scraper conveyor is determined at least according to the curved section, and the position of the hydraulic support is determined according to the position of the scraper conveyor and each of the stroke values.

2. The method for determining the position of the hydraulic support and the scraper conveyor according to claim 1, characterized in that: Determining the stroke slope corresponding to the bracket combination according to each of the stroke values ​​corresponding to the bracket combination includes: Determine the ratio of the stroke difference to the number of brackets as the stroke slope, wherein the stroke difference represents the difference between the stroke value corresponding to the first bracket and the stroke value corresponding to the second bracket, the number of brackets represents the sum of the number of the first bracket, the second bracket and all the third brackets, the third bracket represents the hydraulic bracket between the first bracket and the second bracket, the first bracket represents the hydraulic bracket corresponding to the largest stroke value among the stroke values ​​corresponding to the bracket combination, the second bracket represents the hydraulic bracket corresponding to the smallest stroke value among the stroke values ​​corresponding to the bracket combination, the stroke value corresponding to the third bracket is smaller than the stroke value corresponding to the first bracket, and the stroke value corresponding to the third bracket is larger than the stroke value corresponding to the second bracket.

3. The method for determining the position of the hydraulic support and the scraper conveyor according to claim 1, characterized in that: Obtaining the stroke value corresponding to each of the hydraulic supports includes: Obtaining the initial stroke value corresponding to each of the hydraulic supports at the current moment; Determine that the hydraulic support whose initial stroke value is abnormal or missing is an abnormal support, determine that the hydraulic support whose initial stroke value is not missing and not abnormal is a normal support, and determine that the initial stroke value corresponding to the normal support is the stroke value corresponding to the normal support; At least based on the historical change data corresponding to each of the normal supports, the initial stroke value corresponding to the abnormal support is corrected to obtain the stroke value corresponding to the abnormal support, wherein the historical change data represents the change of the corresponding historical stroke value during the process of the normal support performing the pulling action and the pushing action at the historical moment.

4. The method for determining the positions of the hydraulic support and the scraper conveyor according to claim 3, characterized in that: Before correcting the initial stroke value corresponding to the abnormal bracket, the method further includes: Obtaining the pulling change speed of the historical stroke value when the normal bracket performs the pulling action, wherein the pulling change speed is Vx=(BA) / Tx, Vx<0, Vx represents the pulling change speed, B represents the historical stroke value corresponding to when the pulling action is completed, A represents the historical stroke value corresponding to before the pulling action is performed, and Tx represents the duration of the pulling action; Obtain the pushing and sliding change speed of the historical stroke value when the normal bracket performs the pushing and sliding action, wherein the pushing and sliding change speed is Vy=(DC) / Ty, Vy>0, Vy represents the pushing and sliding change speed, D represents the historical stroke value corresponding to the completion of the pushing and sliding action, C represents the historical stroke value corresponding to before the pushing and sliding action is performed, Ty represents the duration of the pushing and sliding action, and the rack pulling change speed and the pushing and sliding change speed constitute the historical change data.

5. The method for determining the positions of the hydraulic support and the scraper conveyor according to claim 4, characterized in that: At least according to the historical change data corresponding to each normal support, the initial stroke value corresponding to the abnormal support is corrected, including: Calculating the average of the rack pulling change speeds of all the normal racks to obtain an average rack pulling change speed; Calculate the average of the push-and-slide change speeds of all the normal brackets to obtain an average push-and-slide change speed; Acquiring a motion change of the abnormal bracket, wherein the motion change includes the bracket pulling motion or the bracket pushing motion; In the case where the action change represents the rack pulling action, the initial stroke value is corrected according to the average rack pulling change speed; In the case where the action change represents the push-and-slide action, the initial stroke value is corrected according to the average push-and-slide change speed.

6. The method for determining the positions of the hydraulic support and the scraper conveyor according to claim 4, characterized in that: Obtaining the rack pulling change speed of the historical stroke value when the normal rack performs the rack pulling action, comprising: determining the duration of the time period in which the historical stroke value changes during the process of the normal rack performing the rack pulling action as the duration Tx of the rack pulling action; determining the rack pulling change speed according to the formula Vx=(BA) / Tx, Obtaining the pushing and sliding change speed of the historical stroke value when the normal bracket performs the pushing and sliding action, including: determining the duration of the time period in which the historical stroke value changes during the process of the normal bracket performing the pushing and sliding action as the duration Ty of the pushing and sliding action; determining the pushing and sliding change speed according to the formula Vy=(DC) / Ty.

7. The method for determining the positions of a hydraulic support and a scraper conveyor according to claim 1, characterized in that: Obtaining the stroke value corresponding to each of the hydraulic supports includes: The stroke values ​​are obtained by using the stroke sensors installed on the hydraulic supports.

8. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method for determining the position of the hydraulic support and the scraper conveyor according to any one of claims 1 to 7.

9. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by the processor, the method for determining the positions of the hydraulic support and the scraper conveyor as described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: One or more processors, a memory, and one or more programs, wherein the one or more programs are stored in the memory and are configured to be executed by the one or more processors, and the one or more programs include a method for determining the position of the hydraulic support and the scraper conveyor as described in any one of claims 1 to 7.

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