Method and electronic device for determining the position of a hydraulic support and a flight conveyor

Abstract

The application provides a hydraulic support and scraper conveyor position determination method and electronic equipment. 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. The method comprises: obtaining stroke values corresponding to each hydraulic support; determining stroke slopes corresponding to support combinations according to the stroke values corresponding to each support combination, wherein the support combination comprises a predetermined number of adjacent hydraulic supports; determining an absolute value of a difference between the stroke slope and a curved section slope as a target difference value; in the case that the target difference value is smaller than a predetermined difference value, determining a part of the scraper conveyor connected by the support combination as a curved section in the scraper conveyor; determining the position of the scraper conveyor according to at least the curved section, and determining the position of the hydraulic support according to the position of the scraper conveyor and the stroke values. The application solves the problem that the position determination of the scraper conveyor in the prior art depends on complex multi-source data, resulting in inaccurate position determination.

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 conveyors, often referred to as scrapers in the industry, are essential core equipment for fully mechanized coal mining operations. Their operational stability is directly linked to the safety and efficiency of coal mining operations. This equipment not only performs the critical task of transporting coal from the drop point to the conveying system, but also serves as the travel path for the mining machinery and supports the precise positioning and propulsion of hydraulic supports. Scraper conveyors are flexible systems composed of a series of flexibly connected intermediate trough components, capable of spanning operating areas of up to hundreds of meters. However, as these intermediate troughs move and connect, specific transition zones—called bends—are formed.

[0003] At present, the hydraulic supports of the comprehensive mining working face are routinely equipped with push stroke sensors to measure the travel distance of the support push rod, and based on this, the relative distance between the support and the middle groove of the scraper is determined. How to judge the position and posture of the scraper conveyor at any time? There are currently many 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 posture 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 and the coordination method between the hydraulic support and the scraper during the frame movement process, the scraper angle formation process is obtained, and the S-bend angle is calculated by deducing relevant parameters and formulas to obtain the scraper 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-reality mapping.

[0004] In summary, based on the virtual-real mapping and regulation method of the S-bend scraper conveyor in the fully-mechanized coal mining face based on digital twinning, an S-bend mechanism model of the scraper conveyor is constructed, then the abnormal data is processed, and then the data is corrected by combining the machine vision method, the feature angle is calculated, the whole process is complex, and there are dust, water mist and other unfavorable factors in the actual underground working face video, it is difficult for the naked eye to see the scraper conveyor, and the video image is greatly affected by the installation position of the camera and the environmental light, so it is difficult to output the appropriate data results. The digital twinning simulation method of the fully-mechanized coal mining face based on the spline interpolation method uses the push travel sensing data, inertial navigation system data and terrain data to calculate the position and posture of the scraper conveyor, but the inertial navigation equipment is prone to cumulative error after long-time operation, resulting in inaccurate data and no specific explanation of which data is terrain data and how to obtain it. SUMMARY

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

[0006] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a hydraulic support and scraper conveyor position determination method is provided, the scraper conveyor is mechanically connected to multiple hydraulic supports through multiple pins, the hydraulic supports are connected to the pins one by one, the method comprises: acquiring the stroke value corresponding to each hydraulic support, the stroke value representing the relative distance between the hydraulic support and the scraper conveyor; determining the stroke slope corresponding to the support combination according to each stroke value corresponding to the support combination, the support combination comprising a predetermined number of adjacent hydraulic supports, the stroke slope representing the change trend between each stroke value corresponding to the hydraulic support in the support combination according to the arrangement order of the hydraulic support; determining the absolute value of the difference between the stroke slope and the bending segment slope as the target difference value, wherein the bending segment slope is L / S, S represents the predetermined number, and L represents the maximum stroke that the hydraulic support can reach when performing the push action; in the case that the target difference value is less than a predetermined difference value, determining that the part of the scraper conveyor connected by the support combination is a bending segment in the scraper conveyor; determining the position of the scraper conveyor according to at least the bending segment, and determining the position of the hydraulic support according to the position of the scraper conveyor and each stroke value.

[0007] Optionally, the stroke slope corresponding to the bracket combination is determined according to each stroke value corresponding to the bracket combination, including: 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 that the hydraulic support whose initial stroke value is abnormal or missing is an abnormal support, determining that the hydraulic support whose initial stroke value is not missing and has no abnormality is 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 bracket, the method further includes: obtaining the pulling change speed of the historical stroke value of the normal bracket 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 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 bracket 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 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 based on the historical change data corresponding to each normal bracket, 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, and 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, 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 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, which, when executed by a processor, implement any one of the methods for determining the positions of the hydraulic support and the scraper conveyor.

[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 position of the hydraulic support and the scraper conveyor.

[0016] Applying the technical solution 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. Then, the absolute value of the difference between the stroke slope and the slope of the curved section 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 based on the curved section, and the position of the hydraulic support is determined based on 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 determining the position 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 posture of the scraper conveyor can be determined. The position of the scraper conveyor and the hydraulic support can be determined based on the curved section and each stroke value, ensuring that the position of the scraper conveyor and the hydraulic support can be determined only 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 that constitute part of this application are used to provide a further understanding of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an improper limitation on this 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 in accordance with 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 in accordance with 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 straight is shown according to an embodiment of the present application.

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

[0025] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device. DETAILED DESCRIPTION

[0026] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this 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 invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts 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 that includes 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 existing technology for determining the position of a scraper conveyor relies on complex data from multiple sources, resulting in inaccurate position determination. To solve the above problem, an embodiment of the present application provides 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 with reference to 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 This 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) a processor 102 (the processor 102 may include but is not limited to a microprocessor MCU or a programmable logic device FPGA and other processing devices) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input and output device 108 for communication functions. It will 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 than shown, or with Figure 1 Different configurations shown.

[0032] The memory 104 can be used to store computer programs, such as application software programs and modules, 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 the computer program stored in the memory 104 to execute various functional applications and data processing, thereby implementing the above-mentioned method. The memory 104 may include high-speed random access memory (RAM) and may also include 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 memory remotely located from the processor 102, and such remote memory may be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof. The transmission device 106 is used to receive or transmit data via a network. Specific examples of such networks may include a wireless network provided by the mobile terminal's telecommunications provider. In one example, the transmission device 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication 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 2The flowchart of the method for determining the position of the hydraulic support and the scraper conveyor according to the embodiment of the present application is shown in FIG. The scraper conveyor is mechanically connected to the plurality of hydraulic supports through a plurality of pins, and the hydraulic supports are connected to the pins in a one-to-one correspondence, such as Figure 2 As shown, the method includes 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 assembly based on the stroke values ​​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 the stroke values ​​corresponding to the arrangement order of the hydraulic supports in the support assembly;

[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, where S represents the predetermined number and L represents the maximum stroke that the hydraulic support can achieve when performing 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 of 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. Then, the absolute value of the difference between the stroke slope and the slope of the curved section 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 determining the position 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 posture of the scraper conveyor can be determined. The position of the scraper conveyor and the hydraulic support can be determined based on the curved section and each stroke value, ensuring that the position of the scraper conveyor and the hydraulic support can be determined only 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] During actual application, those skilled in the art may set the above-mentioned predetermined number and the above-mentioned predetermined difference based on empirical values, or obtain them through multiple experiments, and this application does not impose any specific restrictions on this.

[0042] Specifically, under normal conditions of fully mechanized mining and following machine technology, the flexible scraper conveyor has two forms: straight state and curved 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 support pushing 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 bracket pushing stroke of the scraper conveyor.

[0043] In an optional solution, the stroke slope corresponding to the support combination is determined based on the stroke values ​​corresponding to the support combination, including: determining the ratio of the stroke difference to the number of supports as the stroke slope, wherein the stroke difference represents the difference between the stroke value corresponding to the first support and the stroke value corresponding to the second support, the number of supports represents the sum of the number of the first support, the second support, and all third supports, the third support represents the hydraulic support between the first support and the second support, the first support represents the hydraulic support corresponding to the largest stroke value among the stroke values ​​corresponding to the support combination, the second support represents the hydraulic support corresponding to the smallest stroke value among the stroke values ​​corresponding to the support combination, the stroke value corresponding to the third support is smaller than the stroke value corresponding to the first support, and the stroke value corresponding to the third support is larger than the stroke value corresponding to the 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 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 does not have a curved section, that is, when it is pushed straight, the scraper conveyor maintains a straight state, such as 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 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 hydraulic supports includes: obtaining the initial stroke value corresponding to each of the hydraulic supports at the current moment; determining that the hydraulic supports whose initial stroke value is abnormal or missing are abnormal supports, determining that the hydraulic supports whose initial stroke value is not missing and has no abnormality are normal supports, and determining that the initial stroke value corresponding to the normal supports is the stroke value corresponding to the normal supports; correcting the initial stroke value corresponding to the abnormal supports based on at least the historical change data corresponding to each of the normal supports to obtain the stroke value corresponding to the abnormal supports, wherein the historical change data represents the change in the historical stroke value corresponding to the normal supports during the process of performing the pulling action and the 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 is possible to ensure that the collected data is accurate and reliable, and for those hydraulic supports with abnormal or missing initial stroke values ​​(abnormal supports), 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, the system can continue to operate even when the data is incomplete or there are 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 before the above-mentioned pulling rack action is 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 before the above-mentioned pushing and sliding action is 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 and pushing actions, 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 positions.

[0050] In some other optional solutions, the initial stroke value corresponding to the abnormal support is corrected according to at least historical change data of each normal support, including: calculating an average value of the pull support change speed of all the normal supports to obtain an average pull support change speed; calculating an average value of the push and roll change speed of all the normal supports to obtain an average push and roll change speed; obtaining an action change of the abnormal support, the action change including the pull support action or the push and roll action; in the case that the action change represents the pull support action, correcting the initial stroke value according to the average pull support change speed; in the case that the action change represents the push and roll action, correcting the initial stroke value according to the average push and roll change speed. In this embodiment, the average pull support change speed and the average push and roll change speed are calculated by analyzing the historical change data of the normal supports, which can provide accurate reference for the stroke value correction of the abnormal support, thereby further improving the data accuracy of the whole system.

[0051] Specifically, the specific steps of cleaning the initial stroke value are: 1) identifying the situation of missing or abnormal value of the stroke data (i.e. stroke value), and marking the support number of the corresponding hydraulic support; 2) continuously recording the data of the hydraulic support with correct historical stroke value change into the database (record time, support number, historical stroke value), in order to reduce the redundant data disk occupation, only when the historical stroke value changes, the data is recorded; 3) recording the push and roll action data of the hydraulic support corresponding to the support number in 2) into the time sequence database (record time, support number, push and roll action, pull support action), in order to reduce the redundant data disk occupation, only when the action is performed, the data is recorded; 4) comparing the data of 2) and 3), when the hydraulic support responds to the pull support action, the historical stroke value becomes smaller, assuming that the pull support action lasts for a time Tx, the historical stroke value changes from A to B, then the change speed Vx of the historical stroke value of the hydraulic support when performing the pull support action is Vx=(B-A) / Tx, Vx<0, unit: mm / s; 5) comparing the data of 2) and 3), when the hydraulic support responds to the push and roll action, the historical stroke value becomes larger, assuming that the push and roll action lasts for a time Ty, the historical stroke value changes from C to D, then the change speed Vy of the historical stroke value of the hydraulic support when performing the push and roll action is Vy=(D-C) / Ty, Vy>0, unit: mm / s; 6) calculating the pull support and push and roll stroke change speed of all the normal supports with correct historical stroke value change according to 4) and 5), and calculating the average value (i.e. average pull support change speed and average push and roll change speed); 7) for the abnormal support, listening to the action change of the abnormal support, when the abnormal support performs the push and roll action or the pull support action, fitting the change of the stroke value according to the average push and roll change speed or the average pull support change speed.

[0052] In some example embodiments, the pulling change speed of the historical travel value of the normal support during the pulling operation is obtained by: determining the duration of the time period during which the historical travel value changes as the duration of the pulling operation Tx; and determining the pulling change speed according to the formula Vx=(B-A) / Tx. The pushing change speed of the historical travel value of the normal support during the pushing operation is obtained by: determining the duration of the time period during which the historical travel value changes as the duration of the pushing operation Ty; and determining the pushing change speed according to the formula Vy=(D-C) / Ty. In this embodiment, the travel change of the hydraulic support during the pulling and pushing operations can be further accurately calculated by calculating the durations of the pulling and pushing operations and combining the change of the historical travel value.

[0053] Specifically, considering that the actual situation may exist due to the unevenness of the floor, the hydraulic support pushing or pulling operation may be stuck, and the hydraulic support program may detect that the historical travel value does not reach the target value, which leads to a prolonged operation time, i.e., the durations Tx and Ty of the operations in 4) and 5) are inaccurate. Therefore, during the calculation in 4) and 5), the time period during which the historical travel value changes and the time period during which the operation is performed need to be compared, and the time overlap of the two (i.e., the time period during which the historical travel value changes) is trimmed as the effective time.

[0054] Specifically, when the working face changes due to the change of the geological conditions, the average pulling change speed or the average pushing change speed that adapts to the current working face can be calculated by the algorithm, which ensures the accuracy of the fitting result.

[0055] In other example embodiments, the travel values corresponding to the hydraulic supports are obtained by: using the travel sensors installed on the hydraulic supports to obtain the travel values. In this embodiment, the travel sensors installed on the hydraulic supports can be used to monitor the travel change of the hydraulic supports in real time, and accurate travel values can be obtained, which helps to further determine the accurate positions of the hydraulic supports and the scraper conveyors.

[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 pulling speed and average pushing 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 complex data from multiple sources. A method for determining the position of the scraper conveyor and the hydraulic support based solely on stroke data is designed, which has universal applicability; a data cleaning method is designed for situations where stroke data is missing or the value is abnormal, and it can adapt to the impact of changes in the working face production environment 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. 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, and the hydraulic supports are connected to the pins in a one-to-one correspondence. The method for determining the position 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 assembly based on the stroke values ​​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 the stroke values ​​corresponding to the arrangement order of the hydraulic supports in the support assembly;

[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, where S represents the predetermined number and L represents the maximum stroke that the hydraulic support can achieve when performing 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 of 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 number 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 the above-mentioned initial stroke value corresponding to the above-mentioned normal supports as 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 based on 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 the initial stroke value corresponding to the abnormal hydraulic support is corrected, the method further comprises: obtaining a pull-in change speed of the historical stroke value of the normal hydraulic support when the pull-in action is performed, wherein the pull-in change speed is Vx=(B-A) / Tx, Vx<0, Vx represents the pull-in change speed, B represents the historical stroke value corresponding to the completion of the pull-in action, A represents the historical stroke value corresponding to the pull-in action before the pull-in action is performed, and Tx represents the duration of the pull-in action; obtaining a push-out change speed of the historical stroke value of the normal hydraulic support when the push-out action is performed, wherein the push-out change speed is Vy=(D-C) / Ty, Vy>0, Vy represents the push-out change speed, D represents the historical stroke value corresponding to the completion of the push-out action, C represents the historical stroke value corresponding to the push-out action before the push-out action is performed, and Ty represents the duration of the push-out action, and the pull-in change speed and the push-out change speed constitute the historical change data.

[0068] Optionally, the correction of the initial stroke value corresponding to the abnormal hydraulic support according to the historical change data of each normal hydraulic support comprises: calculating an average value of the pull-in change speeds of all the normal hydraulic supports to obtain an average pull-in change speed; calculating an average value of the push-out change speeds of all the normal hydraulic supports to obtain an average push-out change speed; obtaining an action change of the abnormal hydraulic support, wherein the action change comprises the pull-in action or the push-out action; in the case that the action change represents the pull-in action, correcting the initial stroke value according to the average pull-in change speed; and in the case that the action change represents the push-out action, correcting the initial stroke value according to the average push-out change speed.

[0069] Optionally, the obtaining of the pull-in change speed of the historical stroke value of the normal hydraulic support when the pull-in action is performed comprises: determining that the duration of the time period in which the historical stroke value of the normal hydraulic support changes during the performance of the pull-in action is the duration Tx of the pull-in action; and determining the pull-in change speed according to the formula Vx=(B-A) / Tx; and the obtaining of the push-out change speed of the historical stroke value of the normal hydraulic support when the push-out action is performed comprises: determining that the duration of the time period in which the historical stroke value of the normal hydraulic support changes during the performance of the push-out action is the duration Ty of the push-out action; and determining the push-out change speed according to the formula Vy=(D-C) / Ty.

[0070] Optionally, the obtaining of the stroke value corresponding to each hydraulic support comprises: obtaining each stroke value by using a stroke sensor installed on each hydraulic support.

[0071] The present application also provides a computer program product, comprising computer instructions, which, when executed by a processor, implement at least 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 number 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 the above-mentioned initial stroke value corresponding to the above-mentioned normal supports as 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 based on 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 the initial stroke value corresponding to the abnormal support is corrected, the method further comprises: obtaining a pull-in change speed of the historical stroke value of the normal support when the pull-in action is performed, wherein the pull-in change speed is Vx=(B-A) / Tx, Vx<0, Vx represents the pull-in change speed, B represents the historical stroke value corresponding to the completion of the pull-in action, A represents the historical stroke value corresponding to the pull-in action before the pull-in action is performed, and Tx represents the duration of the pull-in action; obtaining a push-out change speed of the historical stroke value of the normal support when the push-out action is performed, wherein the push-out change speed is Vy=(D-C) / Ty, Vy>0, Vy represents the push-out change speed, D represents the historical stroke value corresponding to the completion of the push-out action, C represents the historical stroke value corresponding to the push-out action before the push-out action is performed, and Ty represents the duration of the push-out action, and the pull-in change speed and the push-out change speed constitute the historical change data.

[0075] Optionally, the correction of the initial stroke value corresponding to the abnormal support according to the historical change data of each normal support comprises: calculating an average value of the pull-in change speeds of all the normal supports to obtain an average pull-in change speed; calculating an average value of the push-out change speeds of all the normal supports to obtain an average push-out change speed; obtaining an action change of the abnormal support, wherein the action change comprises the pull-in action or the push-out action; in the case that the action change represents the pull-in action, correcting the initial stroke value according to the average pull-in change speed; and in the case that the action change represents the push-out action, correcting the initial stroke value according to the average push-out change speed.

[0076] Optionally, the obtaining of the pull-in change speed of the historical stroke value of the normal support when the pull-in action is performed comprises: determining that the duration of the time period in which the historical stroke value of the normal support changes during the execution of the pull-in action is the duration Tx of the pull-in action; and determining the pull-in change speed according to the formula Vx=(B-A) / Tx; and the obtaining of the push-out change speed of the historical stroke value of the normal support when the push-out action is performed comprises: determining that the duration of the time period in which the historical stroke value of the normal support changes during the execution of the push-out action is the duration Ty of the push-out action; and determining the push-out change speed according to the formula Vy=(D-C) / Ty.

[0077] Optionally, the obtaining of the stroke value corresponding to each hydraulic support comprises: obtaining each stroke value by using a stroke sensor installed on each hydraulic support.

[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 will appreciate that the various modules or steps of the present invention described above can be implemented using a general-purpose computing device, can be centralized on a single computing device, or can be distributed across a network of multiple computing devices. They can be implemented using program code executable by the computing device, and thus, can be stored in a storage device and executed by the computing device. In some cases, the steps shown or described herein can be performed in a different order than that shown, or can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, the present invention is not limited to any particular combination of hardware and software.

[0080] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, systems, or computer program products. Therefore, the present application can 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 can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) that contain 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 produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the steps in the process. 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 that can direct a computer or other programmable data processing device to work 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 The 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 operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0084] In a typical configuration, a computing device includes one or more processors (CPUs), 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 includes permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. The 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 disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassettes, magnetic 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 transitory computer-readable media (transitory media), such as modulated data signals and carrier waves.

[0087] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[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 and pins are connected one-to-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. Then, the absolute value of the difference between the stroke slope and the slope of the curved section 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 based on the curved section, and the position of the hydraulic support is determined based on 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 determining the position 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 posture of the scraper conveyor can be determined. The position of the scraper conveyor and the hydraulic support can be determined based on the curved section and each stroke value, ensuring that the position of the scraper conveyor and the hydraulic support can be determined only 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 merely a preferred embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present application shall be included within the scope of protection 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 via a plurality of pins, wherein the hydraulic supports are connected to the pins in a one-to-one correspondence. The method comprises: Obtaining a stroke value corresponding to each hydraulic support, wherein the stroke value represents a relative distance between the hydraulic support and the scraper conveyor; Determining a stroke slope corresponding to the support assembly according to each of the stroke values ​​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 the stroke values ​​corresponding to the arrangement order of the hydraulic supports in the support assembly; 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 the hydraulic support can achieve when performing a push-and-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; At least according to the curved section, the position of the scraper conveyor is determined, and according to the position of the scraper conveyor and each of the stroke values, the position of the hydraulic support is determined, Determining the stroke slope corresponding to the bracket combination according to each stroke value corresponding to the bracket combination, including: 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. 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 that the hydraulic support whose initial stroke value is abnormal or missing is an abnormal support, determining that the hydraulic support whose initial stroke value is not missing and has no abnormality is 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, Acquiring the stroke value corresponding to each hydraulic support includes: obtaining each stroke value using a stroke sensor installed on each hydraulic support.

2. The method for determining the position of the hydraulic support and the scraper conveyor according to claim 1, characterized in that: Before correcting the initial stroke value corresponding to the abnormal bracket, the method further includes: Obtaining a pulling change speed of the historical stroke value of the normal stand when the pulling action is performed, wherein the pulling change speed is Vx=(B-A) / 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; 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.

3. The method for determining the position of the hydraulic support and the scraper conveyor according to claim 2, characterized in that: Correcting the initial stroke value corresponding to the abnormal bracket at least based on the historical change data corresponding to each normal bracket includes: Calculating an average of the rack extension change speeds of all the normal racks to obtain an average rack extension change speed; Calculating an average of the push-and-slide change speeds of all the normal supports 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 movement change represents the rack pulling movement, the initial stroke value is corrected according to the average rack pulling change speed; In the case where the motion change represents the push-and-slide motion, the initial stroke value is corrected according to the average push-and-slide change speed.

4. The method for determining the position of the hydraulic support and the scraper conveyor according to claim 2, characterized in that: Obtaining the pulling change speed of the historical stroke value when the normal bracket performs the pulling 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 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 when the normal bracket performs 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; and determining the pushing and sliding change speed according to the formula Vy=(DC) / Ty.

5. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored program, wherein when the program is run, 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 4.

6. 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 4 is implemented.

7. 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 according to any one of claims 1 to 4.

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