Calibration method, device and equipment for tilt angle sensor of mining hydraulic support and medium

Abstract

The invention provides a mining hydraulic support tilt angle sensor calibration method, device and equipment and a medium. The method comprises the following steps: determining an original coordinate system framework of a mining hydraulic support tilt angle sensor; rotating along any axis of the mining hydraulic support tilt angle sensor shell, recording projection values of the physical quantities in the original coordinate system frame before and after rotation, and generating a first rotation matrix; selecting mounting parts of at least two mine hydraulic support tilt angle sensors, recording acquisition signals of the mine hydraulic support tilt angle sensors of the mounting parts under different postures, and generating a second rotation matrix according to the acquisition signals under the different postures; and according to the original coordinate system frame, the first rotation matrix and the second rotation matrix, obtaining the installation coordinate system calibration frame of the inclination angle sensor of the mining hydraulic support, so that secondary calibration can be performed on the inclination angle sensor installed on the hydraulic support in an underground environment of a fully mechanized coal mining face without the help of external special equipment; and the measurement precision of the mining hydraulic support tilt angle sensor is improved.

Description

Technical Field

[0001] The invention relates to the technical field of calibration of a mining support tilt sensor, and in particular to a calibration method, device, equipment and medium for a mining hydraulic support tilt sensor. Background Art

[0002] Tilt sensors are often used for posture monitoring of hydraulic supports for mines, but conventional tilt sensors need to be installed twice before calibration. The existing calibration method for tilt sensors for hydraulic supports for mines is to calibrate the tilt sensors under controlled conditions using precise reference equipment (such as a three-dimensional turntable). The specific operation is to install the sensor on a three-dimensional turntable, set multiple standard angles by the hexahedron calibration method, rotate the turntable along each axis, and simulate multiple tilt states. At the same time, the sensor output data is collected and compared with the reference angle, the sensor error is calculated and corrected, thereby achieving high-precision installation calibration. However, this calibration method is not suitable for specific usage scenarios, and large errors will occur in specific usage scenarios. In the related art, in the specific usage scenario of the tilt sensor, auxiliary equipment such as a calibrator is used to install it together with the tilt sensor, and then the tilt sensor is calculated and calibrated according to the distance between the equipment. However, since the hydraulic supports for mines are installed underground, the installation environment space is small, and there is not enough space to install auxiliary equipment, which affects the calibration of the tilt sensors for hydraulic supports for mines and cannot guarantee the measurement accuracy of the tilt sensors. Summary of the invention

[0003] The present invention provides a mining hydraulic support tilt sensor calibration method, device, equipment and medium, which are used to solve the defects that the traditional tilt sensor calibration method is not suitable for the calibration of the mining hydraulic support tilt sensor in the underground use scenario and cannot guarantee the measurement accuracy of the mining hydraulic support tilt sensor.

[0004] The present invention provides a method for calibrating a tilt sensor of a mining hydraulic support, comprising: Determine the original coordinate system frame of the mining hydraulic support inclination sensor; Rotate along any axis of the housing of the mining hydraulic support inclination sensor, record the projection values ​​of the physical quantities before and after the rotation in the original coordinate system, and generate a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system; Select at least two installation locations of the mining hydraulic support inclination sensor, record the collected signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generate a second rotation matrix according to the collected signals in different postures; The installation coordinate system calibration frame of the mining hydraulic support inclination sensor is obtained according to the original coordinate system frame, the first rotation matrix and the second rotation matrix.

[0005] According to the mining hydraulic support tilt sensor calibration method provided by the present invention, the first rotation matrix is ​​generated according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system, including: Calculate the average value of each rotation axis according to the projection values ​​of the physical quantity before and after the rotation in the original coordinate system; Subtract the corresponding average value from the projection value of the physical quantity before and after the rotation in the original coordinate system to obtain decentralized data; Construct a constant projection equation based on the projection of gravity acceleration in the sensor frame; Substituting the decentralized data into the constant projection equation to generate a linear equation system; Solve the linear equations using the least square method to obtain the initial rotation axis direction; Perform singular value decomposition on the matrix corresponding to the initial rotation axis direction, and use the orthogonal matrix closest to the matrix corresponding to the initial rotation axis direction obtained by the singular value decomposition as the first rotation matrix.

[0006] According to the mining hydraulic support tilt sensor calibration method provided by the present invention, the least square method is used to solve the linear equation group to obtain the initial rotation axis direction, including: A design matrix is ​​constructed based on the decentralized data, and the design matrix is ​​optimized by minimizing the sum of square errors between the design matrix and the linear equations, and the obtained optimal design matrix is ​​used as the matrix corresponding to the initial rotation axis direction.

[0007] According to the mining hydraulic support tilt sensor calibration method provided by the present invention, after performing singular value decomposition on the matrix corresponding to the initial rotation axis direction, the method further includes: Check whether the minimum singular value obtained after singular value decomposition is close to zero. If so, determine whether the initial rotation axis direction obtained by the least squares method to solve the linear equations is reasonable; otherwise, use the least squares method again to solve the linear equations.

[0008] According to the mining hydraulic support tilt sensor calibration method provided by the present invention, the installation part is a part capable of performing joint movements, including the support's guard plate, top plate, tail beam, shield beam, side guard plate and four-link rod.

[0009] According to the mining hydraulic support tilt sensor calibration method provided by the present invention, the second rotation matrix is ​​generated according to the collected signals under the different postures, including: Acquire collected signals of the first installation part in different postures, determine directions of three rotation axes according to the collected signals of the first installation part in different postures, and construct a first coordinate system according to the directions of the three rotation axes; Acquire collected signals of the second installation part in different postures, determine directions of three rotation axes according to the collected signals of the second installation part in different postures, and construct a second coordinate system according to the directions of the three rotation axes; constructing a transformation matrix according to the first coordinate system and the second coordinate system; Perform singular value decomposition on the transformation matrix to obtain an orthogonal matrix closest to the transformation matrix, and use the orthogonal matrix closest to the transformation matrix as the second rotation matrix.

[0010] According to the mining hydraulic support tilt sensor calibration method provided by the present invention, the original coordinate system framework of the mining hydraulic support tilt sensor is determined, including: The mining hydraulic support tilt sensor is initialized and calibrated, and the original coordinate system frame of the mining hydraulic support tilt sensor is determined based on the calibration result.

[0011] The present invention also provides a mining hydraulic support tilt sensor calibration device, comprising: A determination module, used to determine the original coordinate system frame of the mining hydraulic support inclination sensor; The first generating module is used to rotate along any axis of the housing of the mining hydraulic support inclination sensor, record the projection value of the physical quantity before and after the rotation in the original coordinate system, and generate a first rotation matrix according to the projection value of the physical quantity before and after the rotation in the original coordinate system; The second generation module is used to select at least two installation locations of the mining hydraulic support inclination sensor, record the acquisition signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generate a second rotation matrix according to the acquisition signals in different postures; The output module is used to obtain the installation coordinate system calibration frame of the mining hydraulic support inclination sensor according to the original coordinate system frame, the first rotation matrix and the second rotation matrix.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for calibrating a mining hydraulic support inclination sensor as described in any one of the above items is implemented.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the calibration method of the mining hydraulic support inclination sensor described in any one of the above items is implemented.

[0014] The mining hydraulic support tilt sensor calibration method, device, equipment and medium provided by the present invention determine the original coordinate system frame of the mining hydraulic support tilt sensor; rotate along any axis of the mining hydraulic support tilt sensor housing, record the projection value of the physical quantity before and after the rotation in the original coordinate system frame, and generate a first rotation matrix according to the projection value of the physical quantity before and after the rotation in the original coordinate system frame; select at least two installation positions of the mining hydraulic support tilt sensor, record the collection signal of the mining hydraulic support tilt sensor at the installation position in different postures, and generate a second rotation matrix according to the collection signal in the different postures; obtain the mining hydraulic support tilt sensor installation coordinate system calibration frame according to the original coordinate system frame, the first rotation matrix and the second rotation matrix, so as to realize the secondary calibration of the tilt sensor installed on the hydraulic support in the underground environment of the comprehensive mining working face without the aid of external special equipment, thereby improving the measurement accuracy of the mining hydraulic support tilt sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 This is one of the flow charts of the method for calibrating the tilt sensor of a mining hydraulic support provided by an embodiment of the present invention; Figure 2 This is the second flow chart of the calibration method of the mining hydraulic support tilt sensor provided by the embodiment of the present invention; Figure 3 This is the third flow chart of the calibration method of the mining hydraulic support inclination sensor provided by the embodiment of the present invention; Figure 4 This is a fourth flow chart of a method for calibrating a tilt sensor of a mining hydraulic support provided by an embodiment of the present invention; Figure 5 It is a functional structure diagram of a mining hydraulic support inclination sensor calibration device provided by an embodiment of the present invention; Figure 6 It is a functional structure diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Figure 1 A flow chart of a method for calibrating a tilt sensor of a mining hydraulic support provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the method for calibrating the tilt sensor of a mining hydraulic support provided by the embodiment of the present invention includes: Step 101, determining the original coordinate system frame of the mining hydraulic support tilt sensor; In an embodiment of the present invention, the method for determining the original coordinate system framework of the mining hydraulic support inclination sensor includes: The mining hydraulic support tilt sensor is initialized and calibrated, and the original coordinate system frame of the mining hydraulic support tilt sensor is determined based on the calibration result.

[0019] Step 102: rotate along any axis of the housing of the mining hydraulic support inclination sensor, record the projection values ​​of the physical quantities before and after the rotation in the original coordinate system, and generate a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system; Step 103, selecting at least two installation locations of the mining hydraulic support inclination sensors, recording the collected signals of the mining hydraulic support inclination sensors at the installation locations in different postures, and generating a second rotation matrix according to the collected signals in different postures; Step 104: Obtain the mining hydraulic support tilt sensor installation coordinate system calibration framework according to the original coordinate system, the first rotation matrix and the second rotation matrix.

[0020] The calibration method of the traditional inclination sensor in the specific usage scenario is to use auxiliary equipment such as a calibrator to install it together with the inclination sensor, and then calculate and calibrate the inclination sensor based on the distance between the devices. However, since the mining hydraulic support is installed underground, the installation environment is small and there is not enough space to install auxiliary equipment, which affects the calibration of the mining hydraulic support inclination sensor and cannot guarantee the measurement accuracy of the inclination sensor.

[0021] The method for calibrating a mining hydraulic support inclination sensor provided in an embodiment of the present invention determines the original coordinate system frame of the mining hydraulic support inclination sensor; rotates along any axis of the mining hydraulic support inclination sensor housing, records the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame, and generates a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame; selects at least two installation locations of the mining hydraulic support inclination sensor, records the collected signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generates a second rotation matrix according to the collected signals in the different postures; obtains the mining hydraulic support inclination sensor installation coordinate system calibration frame according to the original coordinate system frame, the first rotation matrix and the second rotation matrix, so as to realize secondary calibration of the inclination sensor installed on the hydraulic support in the underground environment of the comprehensive mining working face without the aid of external special equipment, thereby improving the measurement accuracy of the mining hydraulic support inclination sensor.

[0022] Based on any of the above embodiments, generating a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame includes: Step 201, calculating the average value of each rotation axis according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system; Step 202: subtract the corresponding average value from the projection value of the physical quantity before and after the rotation in the original coordinate system to obtain decentralized data; Step 203: construct a constant projection equation based on the projection of gravity acceleration in the sensor frame; Step 204: Substitute the decentralized data into the constant projection equation to generate a linear equation system; Step 205, using the least square method to solve the linear equations to obtain the initial rotation axis direction; In the embodiment of the present invention, the rotation axis is , constant equation: g⋅v=c, Where g is the projection of gravity acceleration in the sensor frame, and c is a constant; Constructing a system of equations: Substitute all decentralized data into the constant projection equation to form a linear system of equations: in ~ , ~ , ~ is the decentralized data; the least square method is used to solve the above equations to obtain the rotation axis direction v and the constant c.

[0023] In the embodiment of the present invention, the method of using the least square method to solve the linear equations to obtain the initial rotation axis direction includes: A design matrix is ​​constructed based on the decentralized data, and the design matrix is ​​optimized by minimizing the sum of square errors between the design matrix and the linear equations, and the obtained optimal design matrix is ​​used as the matrix corresponding to the initial rotation axis direction.

[0024] Step 206: Perform singular value decomposition on the matrix corresponding to the direction of the initial rotation axis, and use the orthogonal matrix closest to the matrix corresponding to the direction of the initial rotation axis obtained by the singular value decomposition as the first rotation matrix.

[0025] In an embodiment of the present invention, after performing singular value decomposition on the matrix corresponding to the initial rotation axis direction, the method further includes: Check whether the minimum singular value obtained after singular value decomposition is close to zero. If so, determine whether the initial rotation axis direction obtained by the least squares method to solve the linear equations is reasonable; otherwise, use the least squares method again to solve the linear equations.

[0026] In the embodiment of the present invention, the singular value decomposition verification specifically includes: centralizing the projection data again to ensure that the data is distributed around the origin. Performing singular value decomposition on the centralized data matrix: Among them, A is the matrix corresponding to the direction of the initial rotation axis, U and V are orthogonal matrices, and Σ is a diagonal matrix containing singular values.

[0027] Verification: Check the minimum singular value in Σ. If the minimum singular value is close to zero, it means that the data is mainly concentrated in the two-dimensional plane, which verifies the rationality of the least squares result.

[0028] In the embodiment of the present invention, Figure 2 As shown, the inclination sensor is rotated along any axis of the housing. During the entire rotation process, the projection of the field along the rotation axis will be a constant. The projection of the physical quantity in the sensor frame multiplied by the direction of the rotation axis in the sensor frame is equal to a constant. The projection of the physical quantity in the sensor frame is a known quantity. These projections are obtained by direct measurement of the sensor, usually the raw data output by the three-axis sensor, that is, the components in the x, y, and z axis directions. These measured values ​​can be directly regarded as the projection of physical quantities such as gravitational acceleration or geomagnetic field in the sensor frame. During the calibration process, these projection data are used to deduce the direction of the rotation axis, determine the relationship between the sensor and the mounting frame, and correct parameters such as sensor offset and sensitivity.

[0029] The projection of these quantities measured by the sensor into the sensor frame forms the basis for subsequent data processing and calibration algorithms. For example, for the accelerometer used in the inclination sensor, the component of the gravity acceleration on this axis remains constant during rotation. The constants in the formula for the projection constant of this field can be converted into vector form. The projection of the quantity into the sensor frame is known, but since the orientation of the sensor changes during rotation, while the projection in one direction is a constant, the projection in other directions changes. Therefore, the fact that the projection value remains constant is not enough to directly deduce the orientation of the rotation axis in the sensor frame.

[0030] The direction of the rotation axis in the sensor frame can be solved by the least squares method, but the least squares method only provides a preliminary estimate of the direction of the rotation axis and does not verify whether the data is really concentrated in one plane. The distribution of the data in the rotation plane can be further confirmed by data centering and singular value decomposition. The minimum singular value after singular value decomposition should be close to zero, indicating that the data is mainly concentrated in the two-dimensional plane, rather than randomly distributed in three-dimensional space. In this way, we can confirm that the rotation does occur in one plane, thereby further verifying the rationality of the least squares result and avoiding deviations caused by data noise or measurement errors. Replace the rotation axis and repeat twice to obtain the direction of all rotation axes in the sensor frame, and finally obtain the calibration frame of the inclination sensor body coordinate system.

[0031] Based on any of the above embodiments, the installation location is a part that can perform joint movements, including but not limited to the support plate, top plate, tail beam, shield beam, side guard plate and four-linkage of the bracket.

[0032] In the embodiment of the present invention, generating a second rotation matrix according to the collected signals in different postures includes: Acquire collected signals of the first installation part in different postures, determine directions of three rotation axes according to the collected signals of the first installation part in different postures, and construct a first coordinate system according to the directions of the three rotation axes; Acquire collected signals of the second installation part in different postures, determine directions of three rotation axes according to the collected signals of the second installation part in different postures, and construct a second coordinate system according to the directions of the three rotation axes; constructing a transformation matrix according to the first coordinate system and the second coordinate system; Perform singular value decomposition on the transformation matrix to obtain an orthogonal matrix closest to the transformation matrix, and use the orthogonal matrix closest to the transformation matrix as the second rotation matrix.

[0033] like Figure 3As shown, according to the bracket joint angle measured by the inclination sensor during actual use, the inclination sensor is installed at places such as the guard plate and the four-link. At one position of the bracket, such as the guard plate, when the bracket performs a joint flexion action such as extending the guard plate, the inclination sensor signal at this time is recorded and recorded as signal 1, the inclination sensor is rotated to change the three-axis direction and installed again at the same position, and the same action is performed again, and the inclination sensor signal 2 is recorded. The coordinate system 1 of this joint can be obtained through signal 1 and signal 2. When the bracket performs a joint bending action such as retracting the guard plate, the inclination sensor signal 3 is recorded, and the inclination sensor signal 4 is recorded after the rotation of the inclination sensor is performed again. The coordinate system 2 of this joint can be obtained through signal 1 and signal 2. The three-axis conversion matrix 2 of this installation position can be obtained through signal 1, signal 2, signal 3, signal 4, coordinate system 1, and coordinate system 2. For different installation positions of the inclination sensor on the bracket, repeating the above method can obtain different conversion matrices.

[0034] like Figure 4 As shown, the original coordinate system of the inclination sensor is converted by method 1 to output rotation matrix 1, the original coordinate system of the inclination sensor is cross-multiplied with rotation matrix 1 to obtain the calibration frame of the inclination sensor body coordinate system, and then the calibration frame of the inclination sensor body coordinate system is converted by method 2 to output rotation matrix 2, and the calibration frame of the inclination sensor body coordinate system is cross-multiplied with rotation matrix 2 to obtain the calibration frame of the inclination sensor installation coordinate system. This calibration frame of the inclination sensor installation coordinate system is the coordinate of the inclination sensor after secondary calibration of the working surface.

[0035] The traditional inclination sensor is calibrated once after production is completed. It does not take into account the calibration process on the bracket after the inclination sensor is installed in the application scenario. The error of the inclination sensor's angle coordinate system with respect to the installation surface coordinate system is calibrated. For some calibration methods in the second scenario, it is necessary to use external calibration equipment for synchronous calibration, which is difficult to perform in the comprehensive mining working face.

[0036] The calibration method of the inclination sensor of the mining hydraulic support provided by the embodiment of the present invention divides the calibration scheme of the inclination sensor on the support into three coordinate system frames for step-by-step calibration; obtains a matrix of the coordinate system frame by a certain method and then cross-multiplies the matrix and the frame to obtain the next coordinate system frame; and constructs the corresponding relationship between the coordinate system of the inclination sensor and the projection of the field along the rotation axis through rotation. By calibrating the inclination sensor step by step, different calibration parameters can be determined, such as sensor sensitivity, offset, misalignment angle and installation frame rotation matrix, and all errors that may be caused by the underground field installation can be calibrated. The installation frame calibration procedure only requires simple support movement, without complex positioning or rotation equipment, and no additional calibration equipment is required for synchronous calibration, which makes the calibration process more flexible and easy to implement.

[0037] The following is a description of the mining hydraulic support tilt sensor calibration device provided by the present invention. The mining hydraulic support tilt sensor calibration device described below and the mining hydraulic support tilt sensor calibration method described above can be referenced to each other.

[0038] Figure 5 The structural diagram of the inclination sensor calibration device for a mining hydraulic support provided by an embodiment of the present invention is as follows: Figure 5 As shown, the mining hydraulic support tilt sensor calibration device provided by the embodiment of the present invention includes: A determination module 501 is used to determine the original coordinate system frame of the mining hydraulic support tilt sensor; The first generating module 502 is used to rotate along any axis of the housing of the mining hydraulic support inclination sensor, record the projection values ​​of the physical quantities before and after the rotation in the original coordinate system, and generate a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system; The second generation module 503 is used to select at least two installation locations of the mining hydraulic support inclination sensors, record the acquisition signals of the mining hydraulic support inclination sensors at the installation locations in different postures, and generate a second rotation matrix according to the acquisition signals in different postures; The output module 504 is used to obtain the calibration frame of the installation coordinate system of the mining hydraulic support inclination sensor according to the original coordinate system, the first rotation matrix and the second rotation matrix.

[0039] The mining hydraulic support tilt sensor calibration device provided in the embodiment of the present invention determines the original coordinate system frame of the mining hydraulic support tilt sensor; rotates along any axis of the mining hydraulic support tilt sensor housing, records the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame, and generates a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame; selects at least two installation locations of the mining hydraulic support tilt sensor, records the collected signals of the mining hydraulic support tilt sensor at the installation locations in different postures, and generates a second rotation matrix according to the collected signals in the different postures; obtains the mining hydraulic support tilt sensor installation coordinate system calibration frame according to the original coordinate system frame, the first rotation matrix and the second rotation matrix, so as to realize secondary calibration of the tilt sensor installed on the hydraulic support in the underground environment of the comprehensive mining working face without the aid of external special equipment, thereby improving the measurement accuracy of the mining hydraulic support tilt sensor.

[0040] Figure 6 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 6As shown, the electronic device may include: a processor (processor) 610, a communication interface (Communications Interface) 620, a memory (memory) 630 and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The memory 630 includes a computer program, an operating system, and acquired data. The processor 610 can call the logic instructions in the memory 630 to execute a calibration method for a mining hydraulic support inclination sensor, which includes: determining an original coordinate system frame of the mining hydraulic support inclination sensor; rotating along any axis of the mining hydraulic support inclination sensor housing, recording the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame, and generating a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame; selecting at least two installation locations of the mining hydraulic support inclination sensor, recording the acquisition signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generating a second rotation matrix according to the acquisition signals in different postures; and obtaining the mining hydraulic support inclination sensor installation coordinate system calibration frame according to the original coordinate system frame, the first rotation matrix, and the second rotation matrix.

[0041] In addition, the logic instructions in the above-mentioned memory 630 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, or the part that contributes to the relevant technology or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0042] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the mining hydraulic support inclination sensor calibration method provided by the above-mentioned methods, the method comprising: determining the original coordinate system frame of the mining hydraulic support inclination sensor; rotating along any axis of the mining hydraulic support inclination sensor housing, recording the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame, and generating a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame; selecting at least two installation locations of the mining hydraulic support inclination sensor, recording the acquisition signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generating a second rotation matrix according to the acquisition signals in the different postures; obtaining the mining hydraulic support inclination sensor installation coordinate system calibration frame according to the original coordinate system frame, the first rotation matrix and the second rotation matrix.

[0043] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0044] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for calibrating a tilt sensor of a mining hydraulic support, characterized in that: include: Determine the original coordinate system frame of the mining hydraulic support inclination sensor; Rotate along any axis of the housing of the mining hydraulic support inclination sensor, record the projection values ​​of the physical quantities before and after the rotation in the original coordinate system, and generate a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system; Select at least two installation locations of the mining hydraulic support inclination sensor, record the collected signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generate a second rotation matrix according to the collected signals in different postures; The installation coordinate system calibration frame of the mining hydraulic support inclination sensor is obtained according to the original coordinate system frame, the first rotation matrix and the second rotation matrix.

2. The method for calibrating the tilt sensor of a mining hydraulic support according to claim 1, characterized in that: The generating a first rotation matrix according to the projection values ​​of the physical quantities before and after the rotation in the original coordinate system frame comprises: Calculate the average value of each rotation axis according to the projection values ​​of the physical quantity before and after the rotation in the original coordinate system; Subtract the corresponding average value from the projection value of the physical quantity before and after the rotation in the original coordinate system to obtain decentralized data; Construct a constant projection equation based on the projection of gravity acceleration in the sensor frame; Substituting the decentralized data into the constant projection equation to generate a linear equation system; Solve the linear equations using the least square method to obtain the initial rotation axis direction; Perform singular value decomposition on the matrix corresponding to the initial rotation axis direction, and use the orthogonal matrix closest to the matrix corresponding to the initial rotation axis direction obtained by the singular value decomposition as the first rotation matrix.

3. The method for calibrating the tilt sensor of a mining hydraulic support according to claim 2, characterized in that: The method of using the least square method to solve the linear equations to obtain the initial rotation axis direction includes: A design matrix is ​​constructed based on the decentralized data, and the design matrix is ​​optimized by minimizing the sum of square errors between the design matrix and the linear equations, and the obtained optimal design matrix is ​​used as the matrix corresponding to the initial rotation axis direction.

4. The method for calibrating the tilt sensor of a mining hydraulic support according to claim 2, characterized in that: After performing singular value decomposition on the matrix corresponding to the initial rotation axis direction, the method further includes: Check whether the minimum singular value obtained after singular value decomposition is close to zero. If so, determine whether the initial rotation axis direction obtained by the least squares method to solve the linear equations is reasonable; otherwise, use the least squares method again to solve the linear equations.

5. The method for calibrating the tilt sensor of a mining hydraulic support according to claim 1, characterized in that: The installation part is a part capable of performing joint movements, including a support plate, a top plate, a tail beam, a shield beam, a side guard plate and a four-link rod of the bracket.

6. The method for calibrating the tilt sensor of a mining hydraulic support according to claim 1 or 5, characterized in that: The generating a second rotation matrix according to the collected signals in different postures includes: Acquire collected signals of the first installation part in different postures, determine directions of three rotation axes according to the collected signals of the first installation part in different postures, and construct a first coordinate system according to the directions of the three rotation axes; Acquire collected signals of the second installation part in different postures, determine directions of three rotation axes according to the collected signals of the second installation part in different postures, and construct a second coordinate system according to the directions of the three rotation axes; constructing a transformation matrix according to the first coordinate system and the second coordinate system; Perform singular value decomposition on the transformation matrix to obtain an orthogonal matrix closest to the transformation matrix, and use the orthogonal matrix closest to the transformation matrix as the second rotation matrix.

7. The method for calibrating the tilt sensor of a mining hydraulic support according to claim 1, characterized in that: The original coordinate system framework for determining the tilt angle sensor of the mining hydraulic support includes: The mining hydraulic support tilt sensor is initialized and calibrated, and the original coordinate system frame of the mining hydraulic support tilt sensor is determined based on the calibration result.

8. A calibration device for a mining hydraulic support inclination sensor, characterized in that: include: A determination module, used to determine the original coordinate system frame of the mining hydraulic support inclination sensor; The first generating module is used to rotate along any axis of the housing of the mining hydraulic support inclination sensor, record the projection value of the physical quantity before and after the rotation in the original coordinate system, and generate a first rotation matrix according to the projection value of the physical quantity before and after the rotation in the original coordinate system; The second generation module is used to select at least two installation locations of the mining hydraulic support inclination sensor, record the acquisition signals of the mining hydraulic support inclination sensor at the installation locations in different postures, and generate a second rotation matrix according to the acquisition signals in different postures; The output module is used to obtain the installation coordinate system calibration frame of the mining hydraulic support inclination sensor according to the original coordinate system frame, the first rotation matrix and the second rotation matrix.

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

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

Images