Control method and device for self-moving of advanced support deviation correction

Abstract

The application provides a control method and device for deviation correction and self-moving of a leading support, the method comprising: during self-moving of a front support in a leading support group, judging whether the front support has position deviation according to a preset trigger condition; in response to obtaining that the front support has position deviation, obtaining a deviation direction and a deviation amount of the front support; determining a first target position of a first oil cylinder and a second target position of a second oil cylinder according to the deviation direction and the deviation amount; wherein the first oil cylinder and the second oil cylinder are push-moving mechanisms between the front support and a rear support connected to the front support; determining a first control signal of the first oil cylinder according to a first current position of the first oil cylinder and the first target position, and determining a second control signal of the second oil cylinder according to a second current position of the second oil cylinder and the second target position; controlling the first oil cylinder to move to the first target position according to the first control signal, and controlling the second oil cylinder to move to the second target position according to the second control signal. The control method and device for deviation correction and self-moving of the leading support provided by the application realize automatic deviation correction control during self-moving of the front support in the leading support group, and ensure the reliability and safety of moving the front support in the leading support group.

Description

Technical Field

[0001] This invention relates to the field of automatic control technology, and in particular to a control method and device for self-shifting and correcting the deviation of an advanced support. Background Technology

[0002] Currently, 2-3 sets of advance supports are typically arranged at the head and tail of the longwall mining face to support the roof of the head and tail, ensuring the safety of the working face. The advance supports will move along with the mining process. Taking 2 sets of advance supports as an example, the one closer to the mining direction is the front support, and the one closer to the working face is the rear support. The front support is moved by lowering, moving, and raising the front support, and then the rear support is moved by the connecting structure between the front and rear supports. During the movement, as long as the position of the front support does not shift, the direction of the entire advance support group can be basically guaranteed to remain unchanged.

[0003] In coal mine tunneling, the application of self-moving advance supports can improve the support efficiency and safety of the working face. However, during the self-movement process of the advance support group's front frame, positional deviation can easily occur, posing safety risks. Therefore, how to achieve deviation control during the self-movement process of the advance support group's front frame has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a control method and apparatus for the self-movement of the front frame of the advanced support system, which solves the defect of the prior art that cannot realize the self-movement control of the front frame of the advanced support system, and realizes the self-movement control of the front frame of the advanced support system.

[0005] This invention provides a control method for the self-movement of a pre-support bracket, comprising the following steps: during the self-movement of the front frame in a pre-support bracket assembly, determining whether the front frame has experienced a positional shift according to a preset triggering condition; in response to the acquisition of the positional shift of the front frame, acquiring the shift direction and the shift amount of the front frame; determining a first target position of a first hydraulic cylinder and a second target position of a second hydraulic cylinder based on the shift direction and the shift amount; wherein the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front frame and the rear frame connected to the front frame; determining a first control signal of the first hydraulic cylinder based on the first current position and the first target position, and determining a second control signal of the second hydraulic cylinder based on the second current position and the second target position; controlling the first hydraulic cylinder to move to the first target position based on the first control signal, and controlling the second hydraulic cylinder to move to the second target position based on the second control signal.

[0006] According to the control method for self-shifting of an advanced support according to the present invention, the step of determining a first control signal of the first hydraulic cylinder based on a first current position and a first target position includes: determining the first control signal of the first hydraulic cylinder based on the first current position and the first target position using a PID control algorithm; the step of determining a second control signal of the second hydraulic cylinder based on a second current position and a second target position includes: determining the second control signal of the second hydraulic cylinder based on the second current position and the second target position using a PID control algorithm.

[0007] According to the control method for self-shifting of an advanced stent provided by the present invention, the first control signal is represented as:

[0008] ;

[0009] in, express The first control signal at time , express The distance between the first target position and the first current position at any given time. Indicates proportional gain. Indicates integral gain. Represents differential gain;

[0010] The second control signal is represented as follows:

[0011] ;

[0012] in, express The second control signal at time [time] express The distance between the second target position and the second current position at a given time.

[0013] According to the present invention, a control method for self-movement of an advanced support for correction is provided. The step of controlling the first hydraulic cylinder to move to the first target position according to the first control signal includes: controlling the first hydraulic cylinder to move to the first target position by adjusting the opening of the valve port of a first proportional directional valve according to the first control signal; the step of controlling the second hydraulic cylinder to move to the second target position according to the second control signal includes: controlling the second hydraulic cylinder to move to the second target position by adjusting the opening of the valve port of a second proportional directional valve according to the second control signal.

[0014] According to a control method for self-correction of a pre-support according to the present invention, determining whether the pre-support has a positional deviation includes: determining whether the pre-support has a positional deviation by measuring a first distance by a first ranging sensor and measuring a second distance by a second ranging sensor; wherein the first ranging sensor and the second ranging sensor are respectively installed on the front column and the rear column of the pre-support, the first distance is the distance between the first ranging sensor and the coal wall, and the second distance is the distance between the second ranging sensor and the coal wall.

[0015] According to a control method for self-shifting of a front support according to 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 based on the first distance, the second distance, and the horizontal distance between the first ranging sensor and the second ranging sensor.

[0016] According to the present invention, a control method for self-shifting of an advanced support is provided, wherein the control method operates on the hydraulic support controller of the advanced support group.

[0017] According to the control method for self-shifting and correction of a pre-support according to 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.

[0018] According to the control method for self-movement of the advanced support frame according to the present invention, after determining whether the front frame has a positional deviation according to a preset trigger condition, the method further includes: in response to obtaining that the front frame has not a positional deviation, moving the front frame of the advanced support frame group to a preset termination position, and after the front frame moves to the preset termination position and raises the column, completing the column lowering, moving and raising actions of the complete support frame.

[0019] This invention also provides a control device for the self-movement of a front support frame, comprising the following modules: a judgment module, configured to: determine whether the front support frame has experienced a positional shift during the self-movement process of the front support frame in the front support frame assembly, based on a preset triggering condition; an acquisition module, configured to: acquire the offset direction and offset amount of the front support frame in response to the acquisition of the positional shift of the front support frame; a first determination module, configured to: determine a first target position of a first hydraulic cylinder and a second target position of a second hydraulic cylinder based on the offset direction and the offset amount; wherein the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front support frame and the rear support frame connected to the front support frame; a second determination module, configured to: determine a first control signal of the first hydraulic cylinder based on the first current position and the first target position of the first hydraulic cylinder, and determine a second control signal of the second hydraulic cylinder based on the second current position and the second target position of the second hydraulic cylinder; and a control module, configured to: control the first hydraulic cylinder to move to the first target position based on the first control signal, and control the second hydraulic cylinder to move to the second target position based on the second control signal.

[0020] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the control method for self-shifting and correction of the advanced support as described above.

[0021] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the control method for self-shifting and correction of the advanced support as described above.

[0022] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the control method for self-shifting and correction of the advanced support as described above.

[0023] The present invention provides a control method and apparatus for self-movement and correction of the front frame in an advanced support group. During the self-movement process of the front frame in the advanced support group, it determines whether the front frame has experienced a positional shift based on preset triggering conditions. In response to the detection of a positional shift, the method acquires the shift direction and amount. Based on the shift direction and amount, it determines a first target position for a first hydraulic cylinder and a second target position for a second hydraulic cylinder. The first and second hydraulic cylinders are a pushing mechanism between the front frame and the rear frame connected to it. Based on the first current position and the first target position of the first hydraulic cylinder, a first control signal is determined for the first hydraulic cylinder. Based on the second current position and the second target position of the second hydraulic cylinder, a second control signal is determined for the second hydraulic cylinder. The first control signal controls the first hydraulic cylinder to move to the first target position, and the second control signal controls the second hydraulic cylinder to move to the second target position. This achieves automated correction control during the self-movement process of the front frame in the advanced support group, ensuring the reliability and safety of the advanced support group's movement. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0025] Figure 1 This is one of the flowcharts illustrating the control method for self-shifting and correction of the advanced support provided by the present invention.

[0026] Figure 2 This is the second flowchart of the control method for self-shifting and correction of the advanced support provided by the present invention.

[0027] Figure 3 This is a schematic diagram illustrating an application scenario of the advanced support self-shifting control method provided by the present invention.

[0028] Figure 4 This is a schematic diagram of the structure of the advanced support self-shifting control device provided by the present invention.

[0029] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0031] Figure 1 This is one of the flowcharts illustrating the control method for self-shifting and correction of the advanced stent provided by the present invention, such as... Figure 1 As shown, the method includes:

[0032] Step S1: During the self-movement of the front frame in the advanced support group, determine whether the front frame has experienced a positional shift according to the preset triggering conditions.

[0033] After the front frame in the advanced support assembly completes its position adjustment through column lowering, frame shifting, and column raising operations, the frame can be pulled back via the connecting structures between the front and rear frames, and between the rear frames themselves. As long as the position of the front frame does not shift, the orientation of the entire advanced support assembly can be basically guaranteed to remain unchanged. Therefore, the advanced support self-movement correction control method provided by this invention is mainly used to correct the self-movement process of the front frame. That is, when the position of the front frame shifts, such as to the left or right, the attitude and position of the front frame are adjusted to ensure that the front frame can correctly move to the preset termination position. The preset termination position is the position of the front frame after the current advanced support assembly frame shifting.

[0034] During the self-movement of the front frame in the advanced support assembly, a preset trigger condition is used to determine whether the front frame has experienced a positional shift. Since the correction process does not require repeated judgments and correction commands, the preset trigger condition can include the front frame not currently being in the correction process. Based on the premise that the front frame is not currently in the correction process, the preset trigger condition can be either to perform the judgment on whether the front frame has experienced a positional shift in real time from the moment the front frame begins to move, or to perform the judgment on whether the front frame has experienced a positional shift in real time after the front frame has moved a certain distance.

[0035] Step S2: In response to the detection of a positional shift in the front frame, obtain the shift direction and amount of the front frame.

[0036] If, after determining whether the front frame has shifted position based on preset trigger conditions, a position shift is detected, then the direction and amount of the shift are obtained. The shift direction can be left or right. The shift amount indicates the degree of left or right shift. The shift direction can be determined by measuring the distance between the rigid structural parts of the front frame and the fixed object, and the shift amount can be determined by the distances between the two rigid structural parts of the front frame and the fixed object, as well as the geometric relationship between the two rigid structural parts.

[0037] Step S3: Determine the first target position of the first hydraulic cylinder and the second target position of the second hydraulic cylinder according to the offset direction and the offset amount; wherein, the first hydraulic cylinder and the second hydraulic cylinder are the pushing mechanism between the front frame and the rear frame connected to the front frame.

[0038] The target attitude and position of the front frame after correction are determined based on the offset direction and offset amount. The attitude and position of the front frame are determined by the positions of the first and second hydraulic cylinders between the front frame and the rear frame connected to it. The first and second hydraulic cylinders are the pushing mechanism between the front frame and the rear frame connected to it. Therefore, the first target position of the first hydraulic cylinder and the second target position of the second hydraulic cylinder are determined based on the offset direction and offset amount. When the first hydraulic cylinder is in the first target position and the second hydraulic cylinder is in the second target position, the front frame achieves the target attitude and position.

[0039] Step S4: Determine the first control signal of the first hydraulic cylinder based on the first current position and the first target position, and determine the second control signal of the second hydraulic cylinder based on the second current position and the second target position.

[0040] The first current position of the first hydraulic cylinder is obtained, and the first control signal of the first hydraulic cylinder is determined based on the first current position and the first target position. The first control signal is used to control the first hydraulic cylinder to change from the first current position to the first target position.

[0041] The second current position of the second hydraulic cylinder is obtained, and the second control signal of the second hydraulic cylinder is determined based on the second current position and the second target position. The second control signal is used to control the second hydraulic cylinder to change from the second current position to the second target position.

[0042] Step S5: 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.

[0043] Upon receiving the first control signal, the first hydraulic cylinder is controlled to move to the first target position under the control of the first control signal. Upon receiving the second control signal, the second hydraulic cylinder is controlled to move to the second target position under the control of the second control signal. Furthermore, while the first and second control signals control the movement of the first and second hydraulic cylinders respectively, their moving speeds can also be adjusted based on the moving distance of the first and second hydraulic cylinders, thereby achieving coordinated control of the first and second hydraulic cylinders.

[0044] The present invention provides a control method for self-movement and correction of a pre-support frame. During the self-movement of the front frame in a pre-support assembly, the method determines whether the front frame has experienced a positional shift based on preset trigger conditions. In response to the detection of a positional shift, the method acquires the shift direction and amount. Based on the shift direction and amount, it determines a first target position for a first hydraulic cylinder and a second target position for a second hydraulic cylinder. The first and second hydraulic cylinders are a pushing mechanism between the front frame and the rear frame connected to it. Based on the first current position and the first target position of the first hydraulic cylinder, a first control signal is determined. Based on the second current position and the second target position of the second hydraulic cylinder, a second control signal is determined. The first control signal controls the first hydraulic cylinder to move to the first target position, and the second control signal controls the second hydraulic cylinder to move to the second target position. This achieves automated correction control during the self-movement of the front frame in the pre-support assembly, ensuring the reliability and safety of the pre-support assembly's movement.

[0045] According to the control method for self-shifting of an advanced support according to the present invention, the step of determining a first control signal of the first hydraulic cylinder based on a first current position and a first target position includes: determining the first control signal of the first hydraulic cylinder based on the first current position and the first target position using a PID control algorithm; the step of determining a second control signal of the second hydraulic cylinder based on a second current position and a second target position includes: determining the second control signal of the second hydraulic cylinder based on the second current position and the second target position using a PID control algorithm.

[0046] The first control signal for the first hydraulic cylinder can be determined using a PID control algorithm based on its current position and target position. The PID control algorithm generates the first control signal by calculating the proportional (P), integral (I), and derivative (D) components of the distance between the target position and the current position of the first hydraulic cylinder.

[0047] The second control signal for the second cylinder can be determined using a PID control algorithm based on its current position and target position. The PID control algorithm generates the second control signal by calculating the proportional (P), integral (I), and derivative (D) components of the distance between the target position and the current position of the second cylinder.

[0048] The advanced support self-movement control method provided by the present invention uses a PID control algorithm to determine the first control signal of the first hydraulic cylinder based on the first current position and the first target position of the first hydraulic cylinder, and uses a PID control algorithm to determine the second control signal of the second hydraulic cylinder based on the second current position and the second target position of the second hydraulic cylinder, thereby improving the accuracy of the first and second control signals.

[0049] According to the control method for self-shifting of an advanced stent provided by the present invention, the first control signal is represented as:

[0050] ;

[0051] in, express The first control signal at time , express The distance between the first target position and the first current position at any given time. Indicates proportional gain. Indicates integral gain. Represents differential gain;

[0052] The second control signal is represented as follows:

[0053] ;

[0054] in, express The second control signal at time [time] express The distance between the second target position and the second current position at any given time. Indicates proportional gain. Indicates integral gain. This represents the differential gain.

[0055] in, It is the first control signal output by the controller, corresponding to the flow or displacement control signal of the first oil cylinder. It is the error signal, that is, 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 hydraulic cylinder. This is the error signal, specifically the distance between the second target position and the second current position. In practical applications, the gain of the PID controller... , and The optimal value can be determined through experimentation.

[0056] In discrete-time systems, the above formula can be transformed, such as... In discrete-time systems, the representation is as follows:

[0057] ;

[0058] in, This represents the second control signal at time k. This represents the distance between the second target position and the second current position at time k. Indicates proportional gain. Indicates integral gain. Represents differential gain. This represents the cumulative distance from the initial time to the second target position and the second current position at time k.

[0059] The advanced support self-shifting control method provided by the present invention further improves the reliability of the first control signal and the second control signal by giving expressions for the first control signal and the second control signal.

[0060] According to the present invention, a control method for self-movement of an advanced support for correction is provided. The step of controlling the first hydraulic cylinder to move to the first target position according to the first control signal includes: controlling the first hydraulic cylinder to move to the first target position by adjusting the opening of the valve port of a first proportional directional valve according to the first control signal; the step of controlling the second hydraulic cylinder to move to the second target position according to the second control signal includes: controlling the second hydraulic cylinder to move to the second target position by adjusting the opening of the valve port of a second proportional directional valve according to the second control signal.

[0061] A high-flow-rate, high-water-based electro-hydraulic proportional directional valve can be installed on the advanced support. This valve mainly consists of a pilot valve, a main valve, and a follow-up valve. The main valve is composed of a secondary valve core, a main valve core, and a valve sleeve. The electro-hydraulic proportional directional valve can adjust the valve opening in real time according to the external input signal, thereby precisely controlling the fluid flow and thus controlling the movement of the hydraulic cylinder.

[0062] Specifically, based on the first control signal, the first hydraulic cylinder is controlled to move to the first target position by adjusting the opening of the first proportional directional valve. Based on the second control signal, the second hydraulic cylinder is controlled to move to the second target position by adjusting the opening of the second proportional directional valve.

[0063] The advanced support self-movement control method provided by the present invention controls the first cylinder to move to the first target position by adjusting the opening of the valve port of the first proportional directional valve according to the first control signal, and controls the second cylinder to move to the second target position by adjusting the opening of the valve port of the second proportional directional valve according to the second control signal, thereby improving the accuracy of the position control of the first and second cylinders.

[0064] According to a control method for self-correction of a pre-support according to the present invention, determining whether the pre-support has a positional deviation includes: determining whether the pre-support has a positional deviation by measuring a first distance by a first ranging sensor and measuring a second distance by a second ranging sensor; wherein the first ranging sensor and the second ranging sensor are respectively installed on the front column and the rear column of the pre-support, the first distance is the distance between the first ranging sensor and the coal wall, and the second distance is the distance between the second ranging sensor and the coal wall.

[0065] A first ranging sensor and a second ranging sensor are installed on the front and rear columns of the front frame, respectively. These sensors can be either lidar or millimeter-wave radar. The first ranging sensor measures the distance from the coal face, and the second ranging sensor measures the distance from the coal face. During normal self-movement of the front frame without any positional shift, the first and second distances should be equal.

[0066] Therefore, when determining whether the front frame has shifted position, a preset trigger condition can be used to determine whether the front frame in the advanced support group has shifted position by measuring a first distance from a first ranging sensor and a second distance from a second ranging sensor. Specifically, if the difference between the first and second distances exceeds a preset threshold, it indicates that the front frame has shifted position.

[0067] The control method for self-shifting of the advanced support frame provided by the present invention determines whether the front frame in the advanced support frame group has shifted position based on a first distance measured by a first distance sensor and a second distance measured by a second distance sensor according to a preset trigger condition, thereby achieving accurate and rapid judgment of whether the front frame has shifted position.

[0068] According to a control method for self-shifting of a front support according to 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 based on the first distance, the second distance, and the horizontal distance between the first ranging sensor and the second ranging sensor.

[0069] Based on the first distance between the first ranging sensor and the coal wall, the second distance between the second ranging sensor and the coal wall, and the horizontal distance between the first ranging sensor and the second ranging sensor, the offset direction and offset amount of the front frame can be determined through geometric calculation.

[0070] The advanced support self-shifting control method provided by the present invention determines the offset direction and offset amount of the front support based on the first distance, the second distance, and the horizontal distance between the first distance sensor and the second distance sensor, thereby improving the accuracy of the offset direction and offset amount.

[0071] According to the present invention, a control method for self-shifting of an advanced support is provided, wherein the control method operates on the hydraulic support controller of the advanced support group.

[0072] The control method for self-correction of the advanced support structure provided by this invention can be implemented in the hydraulic support controller of the advanced support assembly. When there are multiple hydraulic support controllers integrated into the advanced support assembly, one or more can be selected for data processing based on the interface configuration.

[0073] By using the existing hydraulic support controller as the control node and data transmission node, and by establishing a data system on the existing working face for signal control and transmission, costs are saved, deployment efficiency is improved, and integration performance is enhanced.

[0074] According to the control method for self-shifting and correction of a pre-support according to 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.

[0075] The first distance measured by the first ranging sensor and the second distance measured by the second ranging sensor are transmitted to the hydraulic support controller via a wired path, which improves the efficiency and reliability of data transmission, ensures timely and accurate acquisition of data changes, and enhances adaptability.

[0076] According to the control method for self-movement of the advanced support frame according to the present invention, after determining whether the front frame has a positional deviation according to a preset trigger condition, the method further includes: in response to obtaining that the front frame has not a positional deviation, moving the front frame of the advanced support frame group to a preset termination position, and after the front frame moves to the preset termination position and raises the column, completing the column lowering, moving and raising actions of the complete support frame.

[0077] After determining whether the front frame has shifted position according to the preset trigger conditions, if it is found that the front frame has not shifted position, the front frame of the advanced support group is moved to the preset end position. After the front frame is moved to the preset end position and the column is raised, the column lowering, moving and raising actions of the complete frame are completed, thereby completing the entire advanced support group frame moving process.

[0078] The advanced support self-movement control method provided by the present invention moves the front frame of the advanced support group to a preset termination position in response to the acquisition that the front frame has not shifted position. After the front frame moves to the preset termination position and the column is raised, the column lowering, moving and raising actions of the completed support are performed, which improves the reliability of the support movement.

[0079] Figure 2 This is the second flowchart of the control method for self-shifting and correction of the advanced support provided by the present invention. Figure 3 This is a schematic diagram illustrating an application scenario of the advanced support self-shifting control method provided by this invention. The following is in conjunction with... Figure 2 and Figure 3 The execution flow of a single-stage shifting process in the advanced support self-shifting control method provided by this invention is further explained as follows:

[0080] The front frame push cylinders (first cylinder and second cylinder) move half their stroke simultaneously;

[0081] The installed millimeter-wave radar determines the front frame offset status in real time. Here, the action to determine the front frame offset status is performed after the front frame left and right push cylinders have moved half their strokes simultaneously. This is to improve the efficiency of the frame movement. In addition, the rigid structural dimensions of the front frame and the structural dimensions of the tunnel can be combined to create a model and display the position status of the front frame in the front frame support group in real time.

[0082] If it is determined that the front frame is in a leftward deflection state, then leftward control is performed to adjust the front frame to a positive moving attitude and position;

[0083] If it is determined that the front frame is in a rightward yaw state, then rightward yaw control is performed to adjust the front frame to a positive moving attitude and position.

[0084] If it is determined that the front frame is in a normal state of forward movement, the left and right push cylinders will move synchronously to push the front frame to continue moving.

[0085] After the front frame is moved into place, the column raising operation is completed.

[0086] The rear frame completes the operations of lowering, moving, and raising the column, thereby completing the movement of the entire advanced support assembly.

[0087] The advanced support self-movement control method provided by this invention forms an advanced support self-movement control process based on radar ranging, and can cope with different offset states.

[0088] The control device for self-shifting of the pre-stent correction provided by the present invention is described below. The control device for self-shifting of the pre-stent correction described below can be referred to in correspondence with the control method for self-shifting of the pre-stent correction described above.

[0089] Figure 4 This is a schematic diagram of the control device for the self-shifting and correction of the advanced support provided by the present invention. Figure 4As 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. The judgment module 10 is used to determine whether the front frame experiences a positional shift during the self-movement process of the front frame in the advanced support assembly, based on preset triggering conditions. The acquisition module 20 is used to acquire the shift direction and amount of the front frame in response to the acquisition of a positional shift. The first determination module 30 is used to determine the first target position of the first hydraulic cylinder and the second target position of the second hydraulic cylinder based on the shift direction and the amount of shift; wherein the first hydraulic cylinder and the second hydraulic cylinder are a 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 hydraulic cylinder based on the first current position and the first target position, and to determine the second control signal of the second hydraulic cylinder based on the second current position and the second target position. The control module 50 is used to control the first hydraulic cylinder to move to the first target position based on the first control signal, and to control the second hydraulic cylinder to move to the second target position based on the second control signal.

[0090] The control device for self-movement and correction of the advanced support frame provided by this invention determines whether the front frame has experienced positional deviation during its self-movement process in the advanced support frame assembly based on preset trigger conditions. In response to the detection of positional deviation, the device acquires the deviation direction and amount. Based on the deviation direction and amount, it determines a first target position for a first hydraulic cylinder and a second target position for a second hydraulic cylinder. The first and second hydraulic cylinders are a pushing mechanism between the front frame and the rear frame connected to it. Based on the first current position and the first target position of the first hydraulic cylinder, a first control signal is determined for the first hydraulic cylinder. Based on the second current position and the second target position of the second hydraulic cylinder, a second control signal is determined for the second hydraulic cylinder. The first control signal controls the first hydraulic cylinder to move to the first target position, and the second control signal controls the second hydraulic cylinder to move to the second target position. This achieves automated correction control during the self-movement process of the front frame of the advanced support frame assembly, ensuring the reliability and safety of the advanced support frame assembly movement.

[0091] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include: a processor 510, a communications interface 520, a memory 530, and a communications bus 540, wherein the processor 510, the communications interface 520, and the memory 530 communicate with each other through the communications bus 540. The processor 510 can call logic instructions in the memory 530 to execute a control method for the self-movement of the advanced support frame. This method includes: during the self-movement of the front frame in the advanced support frame group, determining whether the front frame has experienced a positional shift according to a preset trigger condition; in response to obtaining the positional shift of the front frame, obtaining the shift direction and offset amount of the front frame; determining a first target position of a first hydraulic cylinder and a second target position of a second hydraulic cylinder based on the shift direction and the offset amount; wherein the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front frame and the rear frame connected to the front frame; determining a first control signal for the first hydraulic cylinder based on the first current position and the first target position, and determining a second control signal for the second hydraulic cylinder based on the second current position and the second target position; controlling the first hydraulic cylinder to move to the first target position based on the first control signal, and controlling the second hydraulic cylinder to move to the second target position based on the second control signal.

[0092] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0093] On the other hand, the present invention also provides a computer program product, which includes a computer program that 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 self-movement of the advanced support frame provided by the above methods. The method includes: during the self-movement of the front frame in the advanced support frame group, determining whether the front frame has a positional offset according to a preset trigger condition; in response to obtaining the positional offset of the front frame, obtaining the offset direction and offset amount of the front frame; determining a first target position of a first hydraulic cylinder and a second target position of a second hydraulic cylinder according to the offset direction and the offset amount; wherein the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front frame and the rear frame connected to the front frame; determining a first control signal of the first hydraulic cylinder according to the first current position and the first target position, and determining a second control signal of the second hydraulic cylinder according to the second current position and the second target position; controlling the first hydraulic cylinder to move to the first target position according to the first control signal, and controlling the second hydraulic cylinder to move to the second target position according to the second control signal.

[0094] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a control method for self-movement of the advanced support frame provided by the above methods. The method includes: during the self-movement of the front frame in the advanced support frame group, determining whether the front frame has experienced a positional shift according to a preset triggering condition; in response to obtaining the positional shift of the front frame, obtaining the shift direction and the shift amount of the front frame; determining a first target position of a first hydraulic cylinder and a second target position of a second hydraulic cylinder according to the shift direction and the shift amount; wherein the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front frame and the rear frame connected to the front frame; determining a first control signal of the first hydraulic cylinder according to the first current position and the first target position, and determining a second control signal of the second hydraulic cylinder according to the second current position and the second target position; controlling the first hydraulic cylinder to move to the first target position according to the first control signal, and controlling the second hydraulic cylinder to move to the second target position according to the second control signal.

[0095] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0097] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for self-shifting and correcting deviation of an advanced stent, characterized in that, include: During the self-movement of the front frame in the advanced support group, based on preset triggering conditions, it is determined whether the front frame has experienced a positional shift. This includes: determining whether the front frame has experienced a positional shift by measuring a first distance using a first ranging sensor and a second distance using a second ranging sensor; wherein, the first ranging sensor and the second ranging sensor are respectively installed on the front column and the rear column of the front frame, the first distance is the distance between the first ranging sensor and the coal wall, and the second distance is the distance between the second ranging sensor and the coal wall; In response to the detection of a positional shift in the front frame, the offset direction and offset amount of the front frame are obtained, including: determining the offset direction and offset amount of the front frame based on the first distance, the second distance, and the horizontal distance between the first ranging sensor and the second ranging sensor; The first target position of the first hydraulic cylinder and the second target position of the second hydraulic cylinder are determined according to the offset direction and the offset amount; wherein, the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front frame and the rear frame connected to the front frame; A first control signal for the first hydraulic cylinder is determined based on the first current position and the first target position, and a second control signal for the second hydraulic cylinder is determined based on the second current position 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 first control signal is represented as: ； in, express The first control signal at time , express The distance between the first target position and the first current position at any given time. Indicates proportional gain. Indicates integral gain. Represents differential gain; The second control signal is represented as follows: ； in, express The second control signal at time [time] express The distance between the second target position and the second current position at a given time.

2. The control method for self-shifting and correcting deviation of the advanced stent according to claim 1, characterized in that, The step of determining the first control signal of the first cylinder based on the first current position and the first target position of the first cylinder includes: determining the first control signal of the first cylinder based on the first current position and the first target position of the first cylinder through a PID control algorithm; The step of determining the second control signal of the second cylinder based on the second current position and the second target position of the second cylinder includes: determining the second control signal of the second cylinder based on the second current position and the second target position of the second cylinder using a PID control algorithm.

3. The control method for self-shifting and correcting deviation of the advanced stent according to claim 1, characterized in that, The step of controlling the first cylinder to move to the first target position according to the first control signal includes: controlling the first cylinder to move to the first target position by adjusting the opening of the valve port of the first proportional directional valve according to the first control signal; The step of controlling the second cylinder to move to the second target position according to the second control signal includes: controlling the second cylinder to move to the second target position by adjusting the opening of the valve port of the second proportional directional valve according to the second control signal.

4. The control method for self-shifting and correcting deviation of the advanced stent according to claim 1, characterized in that, The control method operates on the hydraulic support controller of the advanced support group.

5. The control method for self-shifting and correcting deviation of the advanced stent according to claim 4, characterized in that, The first distance measured by the first ranging sensor is transmitted to the hydraulic support controller via a wired path, and the second distance measured by the second ranging sensor is transmitted to the hydraulic support controller via a wired path.

6. The control method for self-shifting and correcting deviation of the advanced stent according to claim 1, characterized in that, After determining whether the front frame has shifted position according to preset triggering conditions, the method further includes: In response to the determination that the front frame has not shifted position, the front frame of the advanced support group is moved to a preset end position, and after the front frame is moved to the preset end position and the column is raised, the column lowering, moving and raising actions of the front frame are completed.

7. A control device for self-shifting and correcting deviation of an advanced support structure, characterized in that, include: The judgment module is used to: determine whether the front frame has experienced a positional shift during the self-movement process of the front frame in the advanced support group, based on preset triggering conditions, including: determining whether the front frame has experienced a positional shift by measuring a first distance using a first ranging sensor and measuring a second distance using a second ranging sensor; wherein, the first ranging sensor and the second ranging sensor are respectively installed on the front column and the rear column of the front frame, the first distance is the distance between the first ranging sensor and the coal wall, and the second distance is the distance between the second ranging sensor and the coal wall; The acquisition module is configured to: in response to the acquisition of a positional offset of the front frame, acquire the offset direction and offset amount of the front frame, including: determining the offset direction and offset amount of the front frame based on the first distance, the second distance, and the horizontal distance between the first ranging sensor and the second ranging sensor; The first determining module is used to: determine the first target position of the first hydraulic cylinder and the second target position of the second hydraulic cylinder according to the offset direction and the offset amount; wherein the first hydraulic cylinder and the second hydraulic cylinder are a pushing mechanism between the front frame and the rear frame connected to the front frame; The second determining module is configured to: determine a first control signal for the first cylinder based on the first current position and the first target position of the first cylinder, and determine a second control signal for the second cylinder based on the second current position and the second target position of the second cylinder; The control module is configured to: control the first hydraulic cylinder to move to the first target position according to the first control signal, and control the second hydraulic cylinder to move to the second target position according to the second control signal; The first control signal is represented as: ； in, express The first control signal at time , express The distance between the first target position and the first current position at any given time. Indicates proportional gain. Indicates integral gain. Represents differential gain; The second control signal is represented as follows: ； in, express The second control signal at time [time] express The distance between the second target position and the second current position at a given time.

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