Method and device for controlling deviation rectification and self-movement of forepoling

Abstract

The invention provides a forepoling deviation rectification self-moving control method and device, and the method comprises the steps: in the self-moving process of a front frame in a forepoling group, judging whether the position of the front frame deviates or not according to a preset triggering condition; responding to the obtained position deviation of the front frame, and obtaining the deviation direction and the deviation amount of the front frame; determining a first target position of the first oil cylinder and a second target position of the second oil cylinder according to the offset direction and the offset; wherein the first oil cylinder and the second oil cylinder are pushing mechanisms between the front frame and the rear frame connected with the front frame; a first control signal of the first oil cylinder is determined according to the first current position and the first target position of the first oil cylinder, and a second control signal of the second oil cylinder is determined according to the second current position and the second target position of the second oil cylinder; the first oil cylinder is controlled to move to a first target position according to the first control signal, and the second oil cylinder is controlled to move to a second target position according to the second control signal. According to the control method and device for deviation rectification and self-moving of the forepoling, automatic deviation rectification control in the self-moving process of the forepoling set front frame is achieved, and the reliability and safety of forepoling set moving are guaranteed.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and in particular to a control method and device for the deviation-correcting self-movement of an advance bracket. Background Art

[0002] At present, 2-3 groups of advance supports are generally arranged at the head and tail of the comprehensive mining working face to support the roof of the head and tail and ensure the safety of the working face. The advance supports will be moved along with the mining process of the working face. Taking 2 groups of advance supports as an example, the one close to the mining direction is the front frame, and the one close to the working face is the rear frame. The front frame is moved by lowering and raising the front frame, and then the rear frame is moved by the connection structure between the front frame and the rear frame. During the movement, it is only necessary to ensure that the position of the front frame does not shift, which can basically ensure that the direction of the entire advance support group does not shift.

[0003] In coal mine tunneling, the application of self-moving advance supports can improve the support efficiency and safety of the excavation working face. However, during the self-movement process of the front frame of the advance support group, position deviation is prone to occur, which brings safety risks. Therefore, how to achieve deviation correction control during the self-movement process of the front frame of the advance support group has become an urgent problem to be solved. Summary of the invention

[0004] The present invention provides a control method and device for the deviation correction and self-movement of an advance bracket, which are used to solve the defect that the deviation correction control of the self-movement process of the front bracket of the advance bracket group cannot be realized in the prior art, and realize the deviation correction control of the self-movement process of the front bracket of the advance bracket group.

[0005] The present invention provides a control method for the deviation-correcting self-movement of an advance support, comprising the following steps: during the self-movement process of a front frame in an advance support group, judging whether the front frame has a position offset according to a preset trigger condition; in response to obtaining the position offset of the front frame, obtaining the offset direction and offset amount of the front frame; determining a first target position of a first cylinder and a second target position of a second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are a pushing mechanism between the front frame and a rear frame connected to the front frame; determining a first control signal of the first cylinder according to a first current position of the first cylinder and the first target position, and determining a second control signal of the second cylinder according to the second current position of the second cylinder and the second target position; controlling the first cylinder to move to the first target position according to the first control signal, and controlling the second cylinder to move to the second target position according to the second control signal.

[0006] According to a control method for the deviation-correcting self-movement of an advance support provided by the present invention, the first control signal of the first cylinder is determined according to the first current position and the first target position of the first cylinder, comprising: determining the first control signal of the first cylinder according to the first current position and the first target position of the first cylinder through a PID control algorithm; the second control signal of the second cylinder is determined according to the second current position and the second target position of the second cylinder, comprising: determining the second control signal of the second cylinder according to the second current position and the second target position of the second cylinder through a PID control algorithm.

[0007] According to a control method for the deviation correction and self-movement of an advanced support provided by the present invention, the first control signal is expressed as: ; in, express The first control signal at the time, express The distance between the first target position and the first current position at the moment, represents the proportional gain, represents the integral gain, represents the differential gain; The second control signal is expressed as: ; in, express The second control signal at the time, express The distance between the second target position and the second current position at the moment.

[0008] According to a control method for the self-movement of an advanced support for deviation correction provided by the present invention, the method of controlling the first cylinder to move to the first target position according to the first control signal includes: according to the first control signal, by adjusting the opening of the valve port of the first proportional reversing valve, so as to control the first cylinder to move to the first target position; the method of controlling the second cylinder to move to the second target position according to the second control signal includes: according to the second control signal, by adjusting the opening of the valve port of the second proportional reversing valve, so as to control the second cylinder to move to the second target position.

[0009] According to a control method for the deviation-correcting self-movement of an advanced support provided by the present invention, the judging whether the front frame has a positional offset comprises: judging whether the front frame has a positional offset by measuring a first distance by a first distance measuring sensor and a second distance by a second distance measuring sensor; wherein the first distance measuring sensor and the second distance measuring sensor are respectively mounted on a front column and a rear column of the front frame, the first distance is the distance between the first distance measuring sensor and the coal wall, and the second distance is the distance between the second distance measuring sensor and the coal wall.

[0010] According to a control method for the deviation-correcting self-movement of an advanced support provided by the present invention, obtaining the offset direction and offset amount of the front support includes: determining the offset direction and offset amount of the front support according to the first distance, the second distance, and the horizontal spacing between the first ranging sensor and the second ranging sensor.

[0011] According to a control method for the deviation-correcting self-movement of an advance support provided by the present invention, the control method is run on a hydraulic support controller of the advance support group.

[0012] According to a control method for the self-movement of an advanced support correction provided by the present invention, the first distance measured by the first distance measuring sensor is transmitted to the hydraulic support controller through a wired path, and the second distance measured by the second distance measuring sensor is transmitted to the hydraulic support controller through a wired path.

[0013] According to a control method for the deviation-correcting self-movement of an advance support provided by the present invention, after determining whether the front frame has a positional offset according to a preset trigger condition, the method further comprises: in response to obtaining that the front frame has no positional offset, moving the front frame of the advance support group to a preset end position, and after the front frame moves to the preset end position and raises the column, completing the lowering, moving and raising actions of the rear frame.

[0014] The present invention also provides a control device for the self-movement of the leading support, comprising the following modules: a judgment module, used to: during the self-movement process of the front frame in the leading support group, according to a preset trigger condition, determine whether the front frame has a position offset; an acquisition module, used to: in response to obtaining the position offset of the front frame, acquire the offset direction and offset amount of the front frame; a first determination module, used to: determine the first target position of the first cylinder and the second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are the pushing mechanisms between the front frame and the rear frame connected to the front frame; a second determination module, used to: determine the first control signal of the first cylinder according to the first current position of the first cylinder and the first target position, and determine the second control signal of the second cylinder according to the second current position of the second cylinder and the second target position; a control module, used to: control the first cylinder to move to the first target position according to the first control signal, and control the second cylinder to move to the second target position according to the second control signal.

[0015] 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 computer program, it implements any of the above-described control methods for the deviation-correcting self-movement of the advance bracket.

[0016] The present invention also provides a non-transitory computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the control method for the deviation-correcting self-movement of the leading support as described in any one of the above-mentioned methods is implemented.

[0017] The present invention also provides a computer program product, comprising a computer program, which, when executed by a processor, implements any of the above-mentioned control methods for the deviation-correcting self-movement of the leading support.

[0018] The control method and device for the deviation correction and self-movement of the advance support provided by the present invention determines whether the front frame has position deviation according to a preset trigger condition during the self-movement process of the front frame in the advance support group. In response to obtaining the position deviation of the front frame, the deviation direction and the deviation amount of the front frame are obtained. The first target position of the first cylinder and the second target position of the second cylinder are determined according to the deviation direction and the deviation amount. The first cylinder and the second cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame. The first control signal of the first cylinder is determined according to the first current position and the first target position of the first cylinder, and the second control signal of the second cylinder is determined according to the second current position and the second target position of the second cylinder. The first cylinder is controlled to move to the first target position according to the first control signal, and the second cylinder is controlled to move to the second target position according to the second control signal. The automatic deviation correction control during the self-movement process of the front frame of the advance support group is realized, and the reliability and safety of the moving frame of the advance support group are ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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 any creative work.

[0020] Figure 1 It is one of the flow charts of the control method of the deviation-correcting self-movement of the leading support provided by the present invention.

[0021] Figure 2 This is the second flow chart of the control method of the deviation-correcting self-movement of the leading support provided by the present invention.

[0022] Figure 3 It is a schematic diagram of an application scenario of the control method for the deviation-correcting self-movement of the advance bracket provided by the present invention.

[0023] Figure 4 It is a structural schematic diagram of the control device for the deviation-correcting self-movement of the leading support provided by the present invention.

[0024] Figure 5 It is a structural schematic diagram of the electronic device provided by the present invention. DETAILED DESCRIPTION

[0025] 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.

[0026] Figure 1 FIG. 1 is one of the flow charts of the control method for the deviation-correcting self-movement of the leading support provided by the present invention, such as Figure 1 As shown, the method includes: Step S1: during the self-movement process of the front frame in the leading support group, it is determined whether the front frame has positional deviation according to a preset trigger condition.

[0027] After the front frame in the advance support group has completed the position adjustment through the operations of lowering the column, moving the frame, and raising the column, the rear frame can be pulled by the connection structure between the front frame and the rear frame, and the rear frame and the rear frame. As long as the position of the front frame is guaranteed not to be offset, the direction of the entire advance support group can be basically guaranteed not to be offset. Therefore, the control method for the deviation correction and self-movement of the advance support provided by the present invention is mainly used for deviation correction control of the self-movement process of the front frame. That is, when the position of the front frame is offset, such as left or right deviation, the posture and position of the front frame are adjusted to ensure that the front frame can be correctly moved to the preset end position. Among them, the preset end position is the position of the front frame after the advance support group moves the frame.

[0028] During the self-movement process of the front frame in the leading support group, it is determined whether the front frame has positional deviation according to the preset trigger condition. Since it is not necessary to repeatedly determine and give correction instructions during the correction process, the preset trigger condition may include that the front frame is not currently in the correction process. On the basis that the front frame is not currently in the correction process, the preset trigger condition may be to perform the action of determining whether the front frame has positional deviation in real time when the front frame starts to move, or to perform the action of determining whether the front frame has positional deviation in real time after the front frame moves a certain distance.

[0029] Step S2: in response to obtaining that the front frame has a positional offset, obtaining an offset direction and an offset amount of the front frame.

[0030] If the front frame is found to be offset after determining whether it is offset according to the preset trigger condition, the offset direction and offset amount of the front frame are obtained. The offset direction may be left offset or right offset. The offset amount indicates the degree of left offset or right offset. The offset direction of the front frame may be determined by measuring the distance between the rigid structure part of the front frame and the fixed object, and the offset amount may be determined by the distance between the two rigid structure parts of the front frame and the fixed object and the geometric relationship between the two rigid structure parts.

[0031] Step S3, determining a first target position of the first cylinder and a second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are a sliding mechanism between the front frame and the rear frame connected to the front frame.

[0032] The target posture and target position of the front frame after the deviation correction are determined according to the offset direction and the offset amount. The posture and position of the front frame are determined by the positions of the first oil cylinder and the second oil cylinder between the front frame and the rear frame connected to the front frame. The first oil cylinder and the second oil cylinder are the pushing mechanisms between the front frame and the rear frame connected to the front frame. Therefore, the first target position of the first oil cylinder and the second target position of the second oil cylinder are determined according to the offset direction and the offset amount, wherein when the first oil cylinder is at the first target position and the second oil cylinder is at the second target position, the front frame reaches the target posture and target position.

[0033] Step S4, determining a first control signal of the first cylinder according to a first current position of the first cylinder and the first target position, and determining a second control signal of the second cylinder according to a second current position of the second cylinder and the second target position.

[0034] A first current position of the first cylinder is acquired, and a first control signal of the first cylinder is determined according to the first current position of the first cylinder and a first target position, wherein the first control signal is used to control the first cylinder to change from the first current position to the first target position.

[0035] The second current position of the second cylinder is acquired, and a second control signal of the second cylinder is determined according to the second current position of the second cylinder and the second target position, wherein the second control signal is used to control the second cylinder to change from the second current position to the second target position.

[0036] Step S5: Control the first oil cylinder to move to the first target position according to the first control signal, and control the second oil cylinder to move to the second target position according to the second control signal.

[0037] After the first control signal is obtained, the first oil cylinder is controlled to move to the first target position under the control of the first control signal. After the second control signal is obtained, the second oil cylinder is controlled to move to the second target position under the control of the second control signal. Wherein, when the first control signal and the second control signal respectively control the movement of the first oil cylinder and the second oil cylinder, the movement speed of the first oil cylinder and the second oil cylinder can also be adjusted according to the movement distance of the first oil cylinder and the second oil cylinder, thereby realizing the coordinated control of the first oil cylinder and the second oil cylinder.

[0038] The control method for the deviation correction and self-movement of the advance support provided by the present invention determines whether the front frame has position deviation according to a preset trigger condition during the self-movement process of the front frame in the advance support group. In response to obtaining the position deviation of the front frame, the deviation direction and the deviation amount of the front frame are obtained. The first target position of the first cylinder and the second target position of the second cylinder are determined according to the deviation direction and the deviation amount. The first cylinder and the second cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame. The first control signal of the first cylinder is determined according to the first current position and the first target position of the first cylinder, and the second control signal of the second cylinder is determined according to the second current position and the second target position of the second cylinder. The first cylinder is controlled to move to the first target position according to the first control signal, and the second cylinder is controlled to move to the second target position according to the second control signal. The automatic deviation correction control during the self-movement process of the front frame of the advance support group is realized, and the reliability and safety of the moving frame of the advance support group are ensured.

[0039] According to a control method for the deviation-correcting self-movement of an advance support provided by the present invention, the first control signal of the first cylinder is determined according to the first current position and the first target position of the first cylinder, comprising: determining the first control signal of the first cylinder according to the first current position and the first target position of the first cylinder through a PID control algorithm; the second control signal of the second cylinder is determined according to the second current position and the second target position of the second cylinder, comprising: determining the second control signal of the second cylinder according to the second current position and the second target position of the second cylinder through a PID control algorithm.

[0040] A first control signal for the first cylinder may be determined according to a first current position and a first target position of the first cylinder by a PID control algorithm. The PID control algorithm generates the first control signal by calculating a proportional (P), integral (I), and differential (D) portion of a distance between the first target position and the first current position of the first cylinder.

[0041] A second control signal for the second cylinder can be determined according to the second current position and the second target position of the second cylinder by a PID control algorithm. The PID control algorithm generates the second control signal by calculating the proportional (P), integral (I), and differential (D) parts of the distance between the second target position and the second current position of the second cylinder.

[0042] The control method for the deviation-correcting self-movement of the advance support provided by the present invention determines the first control signal of the first cylinder according to the first current position and the first target position of the first cylinder through a PID control algorithm, and determines the second control signal of the second cylinder according to the second current position and the second target position of the second cylinder through a PID control algorithm, thereby improving the accuracy of the first control signal and the second control signal.

[0043] According to a control method for the deviation correction and self-movement of an advanced support provided by the present invention, the first control signal is expressed as: ; in, express The first control signal at the time, express The distance between the first target position and the first current position at the moment, represents the proportional gain, represents the integral gain, represents the differential gain; The second control signal is expressed as: ; in, express The second control signal at the time, express The distance between the second target position and the second current position at the time, represents the proportional gain, represents the integral gain, Represents the differential gain.

[0044] in, It is the first control signal output by the controller, corresponding to the flow or displacement control signal of the first cylinder. is the error signal, ie the distance between the first target position and the first current position. It is the second control signal output by the controller, corresponding to the flow or displacement control signal of the second cylinder. is the error signal, that is, the distance between the second target position and the second current position. In practical applications, the gain of the PID controller is , and The optimum value can be determined by experimentation.

[0045] In discrete time systems, the above formula can be transformed into The representation in discrete time system is: ; in, represents the second control signal at time k, represents the distance between the second target position and the second current position at time k, represents the proportional gain, represents the integral gain, represents the differential gain, Represents the cumulative value of the distance between the second target position and the second current position from the initial time to the kth time.

[0046] The control method for the deviation-correcting self-movement of the leading support provided by the present invention further improves the reliability of the first control signal and the second control signal by providing expressions of the first control signal and the second control signal.

[0047] According to a control method for the self-movement of an advanced support for deviation correction provided by the present invention, the method of controlling the first cylinder to move to the first target position according to the first control signal includes: according to the first control signal, by adjusting the opening of the valve port of the first proportional reversing valve, so as to control the first cylinder to move to the first target position; the method of controlling the second cylinder to move to the second target position according to the second control signal includes: according to the second control signal, by adjusting the opening of the valve port of the second proportional reversing valve, so as to control the second cylinder to move to the second target position.

[0048] A high-flow, high-water-based electro-hydraulic proportional reversing valve can be installed on the advance bracket. The valve is mainly composed of a pilot valve, a main valve, and a follower valve, wherein the main valve is composed of an auxiliary valve core, a main valve core, a valve sleeve, etc. The electro-hydraulic proportional reversing valve can adjust the opening of the valve port in real time according to the external input signal, thereby accurately controlling the flow of the fluid and further controlling the movement of the cylinder.

[0049] According to the first control signal, the first oil cylinder is controlled to move to the first target position by adjusting the opening of the valve port of the first proportional reversing valve. According to the second control signal, the second oil cylinder is controlled to move to the second target position by adjusting the opening of the valve port of the second proportional reversing valve.

[0050] The control method for the deviation-correcting self-movement of the advance support provided by the present invention controls the first cylinder to move to a first target position by adjusting the opening of the valve port of the first proportional reversing valve according to a first control signal, and controls the second cylinder to move to a second target position by adjusting the opening of the valve port of the second proportional reversing valve according to a second control signal, thereby improving the accuracy of position control of the first cylinder and the second cylinder.

[0051] According to a control method for the deviation-correcting self-movement of an advanced support provided by the present invention, the judging whether the front frame has a positional offset comprises: judging whether the front frame has a positional offset by measuring a first distance by a first distance measuring sensor and a second distance by a second distance measuring sensor; wherein the first distance measuring sensor and the second distance measuring sensor are respectively mounted on a front column and a rear column of the front frame, the first distance is the distance between the first distance measuring sensor and the coal wall, and the second distance is the distance between the second distance measuring sensor and the coal wall.

[0052] The first distance measuring sensor and the second distance measuring sensor are respectively installed on the front column and the rear column of the front frame, wherein the first distance measuring sensor and the second distance measuring sensor can be a laser radar or a millimeter wave radar. The first distance measuring sensor is used to measure the distance between the first distance measuring sensor and the coal wall, and the second distance measuring sensor is used to measure the distance between the second distance measuring sensor and the coal wall. During the normal self-movement process of the front frame without position deviation, the first distance and the second distance should be equal.

[0053] Therefore, when determining whether the front rack has positional displacement, it is possible to determine whether the front rack in the leading bracket group has positional displacement according to a preset trigger condition by using the first distance measured by the first distance measuring sensor and the second distance measured by the second distance measuring sensor. If the difference between the first distance and the second distance exceeds a preset threshold, it indicates that the front rack has positional displacement.

[0054] The control method for the deviation-correcting self-movement of the leading support provided by the present invention determines whether the front support in the leading support group has a position offset according to a preset trigger condition by measuring a first distance with a first distance-measuring sensor and a second distance with a second distance-measuring sensor, thereby realizing accurate and rapid determination of whether the front support has a position offset.

[0055] According to a control method for the deviation-correcting self-movement of an advanced support provided by the present invention, obtaining the offset direction and offset amount of the front support includes: determining the offset direction and offset amount of the front support according to the first distance, the second distance, and the horizontal spacing between the first ranging sensor and the second ranging sensor.

[0056] According to the first distance between the first distance measuring sensor and the coal wall, the second distance between the second distance measuring sensor and the coal wall, and the horizontal spacing between the first distance measuring sensor and the second distance measuring sensor, the offset direction and offset amount of the front frame can be determined by geometric calculation.

[0057] The control method for the deviation-correcting self-movement of the leading support provided by the present invention determines the offset direction and offset amount of the front support according to the first distance, the second distance and the horizontal spacing between the first distance measuring sensor and the second distance measuring sensor, thereby improving the accuracy of the offset direction and the offset amount.

[0058] According to a control method for the deviation-correcting self-movement of an advance support provided by the present invention, the control method is run on a hydraulic support controller of the advance support group.

[0059] The control method for the deviation correction and self-movement of the leading support provided by the present invention can be operated on the hydraulic support controller of the leading support group. Wherein, when there are multiple hydraulic support controllers of the leading support group, one or more of them can be selected for data processing according to the interface conditions.

[0060] The existing hydraulic support controller is used as the control node and data transmission node, and signal control and signal transmission are performed through the data system established on the existing working face, which saves costs, improves deployment efficiency, and improves integration performance.

[0061] According to a control method for the self-movement of an advanced support correction provided by the present invention, the first distance measured by the first distance measuring sensor is transmitted to the hydraulic support controller through a wired path, and the second distance measured by the second distance measuring sensor is transmitted to the hydraulic support controller through a wired path.

[0062] The first distance measured by the first distance measuring sensor and the second distance measured by the second distance measuring sensor are transmitted to the hydraulic support controller through a wired path, which improves data transmission efficiency and reliability, ensures timely and accurate acquisition of data changes, and is more adaptable.

[0063] According to a control method for the deviation-correcting self-movement of an advance support provided by the present invention, after determining whether the front frame has a positional offset according to a preset trigger condition, the method further comprises: in response to obtaining that the front frame has no positional offset, moving the front frame of the advance support group to a preset end position, and after the front frame moves to the preset end position and raises the column, completing the lowering, moving and raising actions of the rear frame.

[0064] After determining whether the front frame has positional displacement according to the preset trigger conditions, if it is determined that the front frame has no positional displacement, the front frame of the advance support group is moved to the preset end position, and after the front frame moves to the preset end position and raises the column, the column lowering, moving and raising actions of the rear frame are completed, thereby completing the entire advance support group frame moving process.

[0065] The control method for the deviation-correcting self-movement of the advance support provided by the present invention moves the front frame of the advance support group to a preset end position in response to obtaining that there is no position offset in the front frame, and after the front frame moves to the preset end position and raises the column, completes the column lowering, movement and column raising actions of the rear frame, thereby improving the reliability of the frame moving.

[0066] Figure 2 This is the second flow chart of the control method of the deviation-correcting self-movement of the leading support provided by the present invention. Figure 3 This is a schematic diagram of an application scenario of the control method for the deviation correction and self-movement of the leading support provided by the present invention. Figure 2 and Figure 3 The execution flow of a single rack moving process of the control method for the deviation-correcting self-movement of the leading rack provided by the present invention is further described: The front frame left and right push cylinders (first cylinder and second cylinder) move half of the stroke at the same time; The installed millimeter-wave radar is used to judge the offset state of the front frame in real time. Here, the action of judging the offset state of the front frame is performed after the left and right push cylinders of the front frame move half of the stroke at the same time in order to improve the efficiency of the frame movement. In addition, the rigid structure dimensions of the front frame and the structural dimensions of the lane can be combined to model the position state of the front frame in the front frame bracket group in real time. If it is determined that the front frame is in a left-biased state, left-biased control is performed to adjust the posture and position of the front frame to be in a forward moving state; If it is determined that the front frame is in a right-biased state, right-biased control is performed to adjust the posture and position of the front frame to be in a forward moving state; If it is determined that the front frame is in a normal state of forward movement, the left and right push cylinders will act synchronously to push the front frame to continue moving; The column raising operation is completed after the front frame moves into position; The rear frame completes the operations of lowering the column, moving the frame, and raising the column, thereby completing the movement of the entire advance bracket group.

[0067] The control method for the deviation-correcting self-movement of the leading support provided by the present invention forms a deviation-correcting control process for the leading support based on radar ranging, and can cope with different offset states.

[0068] The control device for the deviation correction and self-movement of the advanced bracket provided by the present invention is described below. The control device for the deviation correction and self-movement of the advanced bracket described below and the control method for the deviation correction and self-movement of the advanced bracket described above can be referred to each other.

[0069] Figure 4 Schematic diagram of the structure of the control device for the deviation correction and self-movement of the leading support provided by the present invention. Figure 4 As shown, the device includes a judgment module 10, an acquisition module 20, a first determination module 30, a second determination module 40 and a control module 50, wherein: the judgment module 10 is used to: during the self-movement process of the front frame in the leading support group, according to a preset trigger condition, determine whether the front frame has a position offset; the acquisition module 20 is used to: in response to obtaining the position offset of the front frame, obtain the offset direction and offset amount of the front frame; the first determination module 30 is used to: determine the first target position of the first cylinder and the second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame; the second determination module 40 is used to: determine the first control signal of the first cylinder according to the first current position of the first cylinder and the first target position, and determine the second control signal of the second cylinder according to the second current position of the second cylinder and the second target position; the control module 50 is used to: control the first cylinder to move to the first target position according to the first control signal, and control the second cylinder to move to the second target position according to the second control signal.

[0070] The control device for the deviation correction and self-movement of the advance support provided by the present invention determines whether the front frame has position deviation according to a preset trigger condition during the self-movement process of the front frame in the advance support group. In response to obtaining the position deviation of the front frame, the deviation direction and the deviation amount of the front frame are obtained. The first target position of the first cylinder and the second target position of the second cylinder are determined according to the deviation direction and the deviation amount. The first cylinder and the second cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame. The first control signal of the first cylinder is determined according to the first current position of the first cylinder and the first target position, and the second control signal of the second cylinder is determined according to the second current position of the second cylinder and the second target position. The first cylinder is controlled to move to the first target position according to the first control signal, and the second cylinder is controlled to move to the second target position according to the second control signal. The automatic deviation correction control during the self-movement process of the front frame of the advance support group is realized, and the reliability and safety of the moving frame of the advance support group are ensured.

[0071] Figure 5 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 5 As shown, the electronic device may include: a processor (processor) 510, a communication interface (Communications Interface) 520, a memory (memory) 530 and a communication bus 540, wherein the processor 510, the communication interface 520, and the memory 530 communicate with each other through the communication bus 540. The processor 510 can call the logic instructions in the memory 530 to execute the control method of the leading support correction self-movement, which method includes: in the self-movement process of the front frame in the leading support group, according to the preset trigger condition, judging whether the front frame has a position offset; in response to obtaining the position offset of the front frame, obtaining the offset direction and offset amount of the front frame; determining the first target position of the first cylinder and the second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame; determining the first control signal of the first cylinder according to the first current position of the first cylinder and the first target position, and determining the second control signal of the second cylinder according to the second current position of the second cylinder and the second target position; controlling the first cylinder to move to the first target position according to the first control signal, and controlling the second cylinder to move to the second target position according to the second control signal.

[0072] In addition, the logic instructions in the above-mentioned memory 530 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 such an understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art 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 for 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, etc. Various media that can store program codes.

[0073] On the other hand, the present invention also provides a computer program product, which includes a computer program, which can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the control method for the self-movement of the advance bracket provided by the above-mentioned methods, the method comprising: in the self-movement process of the front frame in the advance bracket group, according to a preset trigger condition, judging whether the front frame has a position offset; in response to obtaining the position offset of the front frame, obtaining the offset direction and offset amount of the front frame; determining the first target position of the first cylinder and the second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are the pushing mechanisms between the front frame and the rear frame connected to the front frame; determining the first control signal of the first cylinder according to the first current position of the first cylinder and the first target position, and determining the second control signal of the second cylinder according to the second current position of the second cylinder and the second target position; controlling the first cylinder to move to the first target position according to the first control signal, and controlling the second cylinder to move to the second target position according to the second control signal.

[0074] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which is implemented by a processor to execute the control method for the self-movement of the advance support provided by the above-mentioned methods when the computer program is executed, the method comprising: in the self-movement process of the front frame in the advance support group, judging whether the front frame has a position offset according to a preset trigger condition; in response to obtaining the position offset of the front frame, obtaining the offset direction and offset amount of the front frame; determining the first target position of the first cylinder and the second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are the pushing mechanisms between the front frame and the rear frame connected to the front frame; determining the first control signal of the first cylinder according to the first current position of the first cylinder and the first target position, and determining the second control signal of the second cylinder according to the second current position of the second cylinder and the second target position; controlling the first cylinder to move to the first target position according to the first control signal, and controlling the second cylinder to move to the second target position according to the second control signal.

[0075] 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.

[0076] 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 prior art 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 embodiments.

[0077] 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 control method for the deviation correction and self-movement of an advance support, characterized in that: include: During the self-movement process of the front frame in the leading support group, judging whether the front frame has positional deviation according to a preset trigger condition; In response to obtaining that the front frame has a positional offset, obtaining an offset direction and an offset amount of the front frame; Determine the first target position of the first cylinder and the second target position of the second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame; Determine a first control signal for the first cylinder according to a first current position of the first cylinder and the first target position, and determine a second control signal for the second cylinder according to a second current position of the second cylinder and the second target position; The first cylinder is controlled to move to the first target position according to the first control signal, and the second cylinder is controlled to move to the second target position according to the second control signal.

2. The control method for the deviation-correcting self-movement of the leading support according to claim 1 is characterized in that: Determining the first control signal of the first cylinder according to the first current position and the first target position of the first cylinder comprises: determining the first control signal of the first cylinder according to the first current position and the first target position of the first cylinder by a PID control algorithm; Determining the second control signal of the second cylinder according to the second current position and the second target position of the second cylinder includes: determining the second control signal of the second cylinder according to the second current position and the second target position of the second cylinder through a PID control algorithm.

3. The control method for the deviation-correcting self-movement of the leading support according to claim 2 is characterized in that: The first control signal is expressed as: ； in, express The first control signal at the time, express The distance between the first target position and the first current position at the moment, represents the proportional gain, represents the integral gain, represents the differential gain; The second control signal is expressed as: ； in, express The second control signal at the time, express The distance between the second target position and the second current position at the moment.

4. The control method for the deviation-correcting self-movement of the leading support according to claim 1 is characterized in that: The controlling the first oil cylinder to move to the first target position according to the first control signal comprises: controlling the first oil cylinder to move to the first target position by adjusting the opening of a valve port of a first proportional reversing valve according to the first control signal; Controlling the second oil cylinder to move to the second target position according to the second control signal includes: controlling the second oil cylinder to move to the second target position by adjusting the opening of the valve port of the second proportional reversing valve according to the second control signal.

5. The control method for the deviation-correcting self-movement of the leading support according to claim 1 is characterized in that: The determining whether the front frame has positional deviation comprises: Whether the front frame has position displacement is determined by a first distance measured by a first distance measuring sensor and a second distance measured by a second distance measuring sensor; wherein the first distance measuring sensor and the second distance measuring sensor are respectively installed on the front column and the rear column of the front frame, the first distance is the distance from the first distance measuring sensor to the coal wall, and the second distance is the distance from the second distance measuring sensor to the coal wall.

6. The control method for the deviation-correcting self-movement of the leading support according to claim 5 is characterized in that: The obtaining of the offset direction and offset amount of the front frame includes: The offset direction and offset amount of the front frame are determined according to the first distance, the second distance, and the horizontal distance between the first distance measuring sensor and the second distance measuring sensor.

7. The control method for the deviation-correcting self-movement of the leading support according to claim 5 is characterized in that: The control method is run on the hydraulic support controller of the leading support group.

8. The control method for the deviation-correcting self-movement of the leading support according to claim 7 is characterized in that: The first distance measured by the first distance measuring sensor is transmitted to the hydraulic support controller through a wired path, and the second distance measured by the second distance measuring sensor is transmitted to the hydraulic support controller through a wired path.

9. The control method for the deviation-correcting self-movement of the leading support according to claim 1, characterized in that: After determining whether the front frame has positional deviation according to the preset triggering condition, the method further includes: In response to obtaining that the front frame has no positional deviation, the front frame of the advance support group is moved to a preset end position, and after the front frame moves to the preset end position and the column is raised, the column lowering, moving and column raising actions of the rear frame are completed.

10. A control device for the deviation correction and self-movement of an advance support, characterized in that: include: A judgment module is used to: during the self-movement process of the front frame in the leading support group, judge whether the front frame has position deviation according to a preset trigger condition; An acquisition module, used for: in response to acquiring that the front frame has a positional offset, acquiring an offset direction and an offset amount of the front frame; A first determination module is used to determine a first target position of a first cylinder and a second target position of a second cylinder according to the offset direction and the offset amount; wherein the first cylinder and the second cylinder are a displacement mechanism between the front frame and a rear frame connected to the front frame; A second determining module is used to: determine a first control signal of the first cylinder according to a first current position of the first cylinder and the first target position, and determine a second control signal of the second cylinder according to a second current position of the second cylinder and the second target position; The control module is used to control the first oil cylinder to move to the first target position according to the first control signal, and control the second oil cylinder to move to the second target position according to the second control signal.

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