Advanced support moving control method and device, electronic equipment and storage medium

Abstract

The invention provides a forepoling moving control method and device, electronic equipment and a storage medium. The forepoling moving control method comprises the following steps: acquiring a forepoling yaw angle and a position and distance relationship between a coal wall and the equipment; identifying a spatial region based on the position and distance relationship between the coal wall and the equipment; reconstructing a coal wall plane and an equipment plane according to the space region; predicting a forepoling movement space straight line according to the forepoling yaw angle; if the forepoling movement space straight line intersects with the coal wall plane or the equipment screen, the forepoling yaw angle is adjusted, transverse adjustment is conducted in advance when it is predicted that collision happens, and the situation that during the forepoling movement process, forepoling movement is stopped, transverse adjustment is conducted, and then forepoling movement is conducted is avoided; in addition, compared with the situation that three-dimensional modeling is carried out on the whole roadway, the time consumption is short, and the advancing support moving process is not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of support frame moving control, and in particular to an advanced support frame moving control method, device, electronic equipment and storage medium. Background Art

[0002] The step-by-step advanced hydraulic support is used for roof support in the advanced section of the coal mine fully-mechanized mining face to ensure the stability of the advanced tunnel roof during coal mining. The advanced hydraulic support uses the hydraulic cylinder telescopic method to push and pull the frame and adjust the position and posture. The intelligent control of the frame is an important part of improving the automation and intelligence of the auxiliary equipment group of the fully-mechanized mining face. The traditional frame control method remotely checks the state of the advanced support and performs remote control through image and other data; the hydraulic support frame movement process is detected through the data such as the advanced support posture, column pressure and the distance between the coal wall to avoid collision, dumping and other data during the frame movement process, thereby realizing the automatic control of the advanced support; the advanced support frame movement navigation control and push path planning are realized according to the three-dimensional model of the chute and the posture of the advanced support. By establishing a three-dimensional model of the tunnel and sensing the posture of the advanced support, the frame movement navigation and push path planning are carried out on this basis. However, due to the long time taken for the three-dimensional reconstruction of the tunnel, the surrounding rock data of the intermediate tunnel cannot guide the adjustment of the support posture of the top beam of the advanced support, resulting in control delays and system data redundancy. Summary of the invention

[0003] The present invention provides an advance support frame moving control method, device, electronic device and storage medium, which are used to solve the defects of traditional advance support frame moving control method, such as control delay and system data redundancy caused by too long time for three-dimensional reconstruction of tunnel and inability of middle tunnel surrounding rock data to guide the adjustment of the support posture of the advance support top beam.

[0004] The present invention provides a method for controlling an advanced support frame shifting, comprising: Obtain the spatial point cloud around the leading support and the yaw angle of the leading support; Acquire the coal wall and equipment positions according to the spatial point cloud around the advance support; Reconstructing the coal wall plane and the equipment plane according to the coal wall and equipment positions; Predicting the moving space plane of the leading support according to the yaw angle of the leading support; When the advance support moving space plane intersects with the coal wall plane and the equipment plane, the yaw angle of the advance support is adjusted.

[0005] According to the advanced support frame moving control method provided by the present invention, the coal wall plane and the equipment plane are reconstructed according to the coal wall and equipment positions, including: Constructing a coordinate point set, determining a plurality of coordinate points in the coordinate point set according to the position and distance relationship between the coal wall and the equipment, wherein the plurality of coordinate points have a position relationship, and taking the coordinate point set as a spatial region; The coal wall plane and the equipment plane are reconstructed according to the spatial area.

[0006] According to the advanced support frame moving control method provided by the present invention, the coal wall plane and the equipment plane are reconstructed according to the spatial area, including: Construct the initial coal wall plane equation and equipment plane equation; Calculating the first distances from all coordinate points in the spatial region to the initial coal wall plane equation, considering the coordinate points whose first distances are less than a preset first threshold as first inner points, and updating the initial coal wall plane equation according to the first inner points to obtain the coal wall plane; The second distances from all coordinate points in the spatial area to the initial device plane equation are calculated, coordinate points whose second distances are less than a preset second threshold are regarded as second inner points, and the initial device plane equation is updated according to the second inner points to obtain the device plane.

[0007] According to the advance bracket moving control method provided by the present invention, the predicting of the advance bracket moving space plane according to the advance bracket yaw angle comprises: Constructing a plane equation according to the moving path of the leading support from the starting point to the end point, wherein the plane equation includes a moving vector, and the moving vector is obtained by calculating based on the yaw angle of the leading support; The yaw angle of the leading support obtained in real time is sequentially input into the plane equation to predict the moving space plane of the leading support.

[0008] According to the leading support frame moving control method provided by the present invention, the adjusting the yaw angle of the leading support comprises: Determining an adjustment angle according to a relative position between a current position of the advance bracket and a nearest potential collision point, wherein a size of the adjustment angle is determined according to a predicted collision area, and a direction of the adjustment angle is determined according to a predicted collision position; The yaw angle of the leading support is adjusted according to the adjustment angle by a transverse oil cylinder.

[0009] According to the advance bracket moving control method provided by the present invention, after the advance bracket moving stops, the method further comprises: Monitor whether the pressure of the front and rear columns of the advanced hydraulic support reaches the preset initial support force; If it is not reached, a column raising operation is performed to make the pressure of the front and rear columns of the advance hydraulic support meet the preset initial support force.

[0010] According to the advance support frame moving control method provided by the present invention, the coal wall and equipment positions are obtained according to the spatial point cloud around the advance support, including: The yaw angle of the advance support is detected by inclination sensors installed on the advance support base and the top beam, and the position of the coal wall and equipment is determined by the spatial point cloud around the advance support scanned by the laser radar installed on the advance support.

[0011] The present invention also provides an advanced support frame moving control device, comprising: The first acquisition module is used to acquire the spatial point cloud around the leading support and the yaw angle of the leading support; The second acquisition module is used to acquire the coal wall and equipment positions according to the spatial point cloud around the advance support; A reconstruction module, used for reconstructing the coal wall plane and the equipment plane according to the coal wall and the equipment position; A prediction module, used for predicting the moving space plane of the leading support according to the yaw angle of the leading support; The adjustment module is used to adjust the yaw angle of the advance support when the advance support moving space plane intersects with the coal wall plane and the equipment plane.

[0012] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the method for controlling the moving of the advance bracket as described in any one of the above items is implemented.

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

[0014] The advance support moving control method, device, electronic device and storage medium provided by the present invention obtain the spatial point cloud around the advance support and the yaw angle of the advance support; obtain the coal wall and equipment position according to the spatial point cloud around the advance support; reconstruct the coal wall plane and the equipment plane according to the coal wall and equipment position; predict the advance support moving spatial plane according to the yaw angle of the advance support; when the advance support moving spatial plane has a graphical intersection with the coal wall plane and the equipment plane, adjust the yaw angle of the advance support, and perform lateral adjustment in advance when a collision is predicted to occur, so as to avoid stopping the moving process, performing lateral adjustment, and then moving the frame again; and, compared with the situation of three-dimensional modeling of the entire tunnel, the system takes less time and does not affect the moving process of the advance support. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0016] Figure 1 This is one of the flow charts of the advance support frame moving control method provided by the embodiment of the present invention; Figure 2 This is the second flow chart of the advance support frame moving control method provided by the embodiment of the present invention; Figure 3 is a functional structure diagram of an advance support frame shifting control device provided by an embodiment of the present invention; Figure 4 It is a functional structure diagram of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

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

[0018] Figure 1 A flow chart of the advance support frame moving control method provided by an embodiment of the present invention, such as Figure 1 As shown, the advance support frame moving control method provided by the embodiment of the present invention includes: Step 101, obtaining a spatial point cloud around the leading support and a yaw angle of the leading support; Step 102, obtaining the coal wall and equipment positions according to the spatial point cloud around the advanced support; Step 103, reconstructing the coal wall plane and the equipment plane according to the coal wall and equipment positions; Step 104, predicting the moving space plane of the leading support according to the yaw angle of the leading support; Step 105: When the advance support moving space plane intersects with the coal wall plane and the equipment plane, adjust the yaw angle of the advance support.

[0019] The traditional frame moving control method uses images and other data to remotely check the state of the advance support and perform remote control; the hydraulic support frame moving process is detected through the data such as the advance support posture, column pressure and the distance from the coal wall to avoid collision, dumping and other data during the frame moving process, thereby realizing automatic control of the advance support; the advance support frame moving navigation control and push path planning are realized according to the three-dimensional model of the chute tunnel and the posture of the advance support. Stop the frame moving during the frame moving process, make lateral adjustments, and then move the frame again. By establishing a three-dimensional model of the tunnel and sensing the posture of the advance support, frame moving navigation and push path planning are performed on this basis. However, due to the long time required for the three-dimensional reconstruction of the tunnel, the surrounding rock data of the intermediate tunnel cannot guide the adjustment of the support posture of the top beam of the advance support, resulting in control delays, system data redundancy and other problems.

[0020] The advance support frame moving control method provided by the embodiment of the present invention obtains the spatial point cloud around the advance support and the yaw angle of the advance support; obtains the coal wall and equipment positions according to the spatial point cloud around the advance support; reconstructs the coal wall plane and the equipment plane according to the coal wall and equipment positions; predicts the advance support moving spatial plane according to the yaw angle of the advance support; when there is a graphical intersection between the advance support moving spatial plane and the coal wall plane and the equipment plane, adjusts the yaw angle of the advance support, and performs lateral adjustment in advance when a collision is predicted to occur, so as to avoid stopping the frame moving during the moving process, performing lateral adjustment, and then moving the frame again; and, compared with the situation of three-dimensional modeling of the entire tunnel, the present invention takes less time and does not affect the moving process of the advance support.

[0021] Based on any of the above embodiments, the reconstructing the coal wall plane and the equipment plane according to the coal wall and the equipment position includes: Constructing a coordinate point set, determining a plurality of coordinate points in the coordinate point set according to the position and distance relationship between the coal wall and the equipment, wherein the plurality of coordinate points have a position relationship, and taking the coordinate point set as a spatial region; The coal wall plane and the equipment plane are reconstructed according to the spatial area.

[0022] In an embodiment of the present invention, a RANSAC (RANdom SAmple Consensus) spatial region recognition algorithm is used. The RANSAC algorithm is an iterative method for estimating mathematical model parameters from a set of data containing outliers. In the advanced support frame shifting control, RANSAC can be used to identify the position and distance relationship of the coal wall and the equipment from the point cloud data obtained by the laser radar scanning. The point cloud data is converted into a format suitable for processing, such as a three-dimensional coordinate point set. The plane equations of the coal wall and the equipment can be identified by the RANSAC algorithm. These equations describe the position and posture of the coal wall and the equipment in space.

[0023] In the embodiment of the present invention, the reconstructing the coal wall plane and the equipment plane according to the spatial area includes: Construct the initial coal wall plane equation and equipment plane equation; Calculating the first distances from all coordinate points in the spatial region to the initial coal wall plane equation, considering the coordinate points whose first distances are less than a preset first threshold as first inner points, and updating the initial coal wall plane equation according to the first inner points to obtain the coal wall plane; The second distances from all coordinate points in the spatial area to the initial device plane equation are calculated, coordinate points whose second distances are less than a preset second threshold are regarded as second inner points, and the initial device plane equation is updated according to the second inner points to obtain the device plane.

[0024] In the embodiment of the present invention, the number of iterations N is set, the threshold t is set to determine whether a point belongs to the model, and the minimum number of points d is set to build the model. D points are randomly selected from the point cloud data as initial sample points. A hypothetical model is built using the selected sample points. For example, for a plane model, a plane equation can be determined by three points.

[0025] In the embodiment of the present invention, the interior point set can be used to determine the boundary between the coal wall and the equipment. Such boundary information can help the advanced support control system to more accurately identify the safe space area and the potential collision risk area.

[0026] Based on the identified plane equation and boundary information, the minimum distance between the advance support and the coal wall and equipment can be calculated. These distance relationships are the basis for simulation of the frame moving process and collision detection.

[0027] Based on any of the above embodiments, predicting the moving space plane of the leading support according to the yaw angle of the leading support includes: Constructing a plane equation according to the moving path of the leading support from the starting point to the end point, wherein the plane equation includes a moving vector, and the moving vector is obtained by calculating based on the yaw angle of the leading support; The yaw angle of the leading support obtained in real time is sequentially input into the plane equation to predict the moving space plane of the leading support.

[0028] In an embodiment of the present invention, the yaw angle refers to the rotation angle of the advance bracket in the horizontal plane, usually in degrees or radians. According to the yaw angle θ, the moving direction vector of the advance bracket in the horizontal plane is calculated. Assume that the forward direction of the advance bracket is along the positive direction of the x-axis; if it is necessary to consider the movement of the advance bracket in the vertical direction (for example, due to undulating terrain), a vertical component can be added. Add the horizontal direction vector and the vertical direction vector to obtain the total movement vector, and calculate the terminal position of the advance bracket after the shifting distance and the movement vector. Moving path equation: The moving path of the advance bracket from the starting point to the end point can be expressed by a straight line equation: in is the starting point, is the movement vector, t is a parameter, and its value range is [0,L].

[0029] Based on any of the above embodiments, adjusting the yaw angle of the leading bracket includes: Determining an adjustment angle according to a relative position between a current position of the advance bracket and a nearest potential collision point, wherein a size of the adjustment angle is determined according to a predicted collision area, and a direction of the adjustment angle is determined according to a predicted collision position; The yaw angle of the leading support is adjusted according to the adjustment angle by a transverse oil cylinder.

[0030] In the implementation of the present invention, the direction to be adjusted is determined based on the collision detection result. Usually, the adjustment direction is to make the leading bracket away from the potential collision point. The adjustment direction can be determined by calculating the relative position between the current position of the leading bracket and the nearest potential collision point. For example, if the leading bracket needs to be adjusted to the right, the yaw angle can be increased by Δθ; if it needs to be adjusted to the left, the yaw angle can be reduced by Δθ. The calculated adjustment angle Δθ is sent to the control system of the leading bracket. The control system adjusts the yaw angle of the leading bracket through the transverse cylinder according to the received instructions. The transverse cylinder adjusts the yaw angle of the leading bracket according to the instructions of the control system. For example, if it needs to be adjusted to the right, the transverse cylinder will push the leading bracket to deflect to the right; if it needs to be adjusted to the left, the transverse cylinder will push the leading bracket to deflect to the left.

[0031] Based on any of the above embodiments, after the leading support frame moving stops, the method further includes: Monitor whether the pressure of the front and rear columns of the advanced hydraulic support reaches the preset initial support force; If it is not reached, a column raising operation is performed to make the pressure of the front and rear columns of the advance hydraulic support meet the preset initial support force.

[0032] In the embodiment of the present invention, if there is no risk of collision on the new path, the leading support performs a column lowering operation. The leading support moves the frame according to the adjusted path and monitors the moving distance. After the moving distance reaches the set value, the leading support stops moving the frame, and the front and rear columns are raised to monitor whether the specified initial support force is reached. The leading support stops moving and waits for the next frame moving instruction.

[0033] Based on any of the above embodiments, the remote control of the advance bracket is realized through image and other data, but the image detection is not comprehensive and is easily blocked by dust and other data, resulting in unknown situations; and the automatic shifting of the advance bracket is realized by sensing the posture of the advance bracket itself and the distance between it and the surrounding coal wall. However, the advance bracket cannot be adjusted laterally during the shifting process. When a collision occurs, the shifting needs to be stopped before the lateral adjustment, which is inefficient. In addition, the advance bracket, coal wall, and equipment are all objects that occupy a certain space, and their true status in space cannot be fed back only through point distance sensors.

[0034] In the embodiment of the present invention, the step of obtaining the coal wall and equipment positions according to the spatial point cloud around the advance support includes: The yaw angle of the advance support is detected by the inclination sensor installed on the advance support base, and the position of the coal wall and equipment is determined by scanning the spatial point cloud around the advance support through the laser radar installed on the advance support. The laser radar is used to determine the spatial position between the advance support and the coal wall and surrounding equipment. Compared with the ultrasonic ranging sensor, the spatial position measurement response between the advance support and the coal wall and surrounding equipment obtained by this detection method is more comprehensive.

[0035] like Figure 2 As shown, the advance support frame moving control method provided by the embodiment of the present invention specifically includes: Step 1: Manually set the rack moving distance according to the actual situation of the working surface; Step 2: a frame moving control command is issued manually or by a host computer according to the position of the coal machine and the coal mining process; Step 3: Detect the yaw angle of the advance support through the inclination sensors installed on the advance support base and the top beam, and determine the position and distance relationship between the coal wall and the equipment through the laser radar scanning installed on the advance support, and send the data to the host computer; Step 4: simulate and calculate the frame shifting process based on the yaw angle of the leading support, the coal wall, the position relationship of the equipment, and the frame shifting distance; Step 5: Determine whether there is any collision during the simulated rack moving process, and if so, adjust the yaw angle of the leading rack through the transverse cylinder; Step 6: If no collision occurs, the leading support will lower the column, move the support and monitor the moving distance; Step 7: During the rack moving process, the front rack tilting and collision detection is performed through the self-sensor; Step 8: Stop moving the rack after the moving distance reaches the set value; Step 9: Raise the front and rear columns of the advanced hydraulic support and monitor whether the specified initial support force is reached; Step 10: The leading hydraulic support stops moving and waits for the next frame moving instruction; By simulating the process of the advance support moving along the path, the distance change between the advance support and the coal wall and equipment is calculated in real time. During the simulation process, the distance between the advance support and the coal wall and equipment is monitored in real time. If the distance is found to be less than the preset threshold, it is considered that there is a collision risk and adjustment is required. If a collision risk is detected, the direction and degree of adjustment required are calculated, and the yaw angle of the advance support is adjusted through the transverse cylinder to avoid potential collision risk areas. After adjusting the yaw angle, the new moving path is recalculated, and the above steps are repeated for simulation and collision detection.

[0036] The advance support frame moving control method provided in the embodiment of the present invention adopts laser radar to determine the spatial position between the advance support and the coal wall and surrounding equipment. Compared with the ultrasonic ranging sensor, the spatial position measurement response between the advance support and the coal wall and surrounding equipment obtained by this detection method is more comprehensive; the method of simulating the frame moving process is used for collision detection, and lateral adjustments will be made in advance if a collision occurs, so as to avoid stopping the frame moving during the frame moving process, making lateral adjustments, and then moving the frame again; only the coal wall, equipment and yaw angle of the advance support within the frame moving distance range are modeled and simulated, which is time-saving and does not affect the moving process of the advance support compared to the three-dimensional modeling of the entire tunnel.

[0037] The following is a description of the advance support frame moving control device provided by the present invention. The advance support frame moving control device described below and the advance support frame moving control method described above can be referenced to each other.

[0038] Figure 3 A schematic diagram of the structure of the advance support frame moving control device provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the advance support frame moving control device provided by the embodiment of the present invention includes: The first acquisition module 301 is used to acquire the spatial point cloud around the leading support and the yaw angle of the leading support; The second acquisition module 602 is used to acquire the coal wall and equipment positions according to the spatial point cloud around the advance support; A reconstruction module 303, used for reconstructing the coal wall plane and the equipment plane according to the coal wall and the equipment position; Prediction module 304, used for predicting the moving space plane of the leading support according to the yaw angle of the leading support; The adjustment module 305 is used to adjust the yaw angle of the advance support when the advance support moving space plane intersects with the coal wall plane and the equipment plane.

[0039] The advance support frame moving control device provided by the embodiment of the present invention obtains the spatial point cloud around the advance support and the yaw angle of the advance support; obtains the coal wall and equipment positions according to the spatial point cloud around the advance support; reconstructs the coal wall plane and the equipment plane according to the coal wall and equipment positions; predicts the advance support moving spatial plane according to the yaw angle of the advance support; when there is a graphical intersection between the advance support moving spatial plane and the coal wall plane and the equipment plane, adjusts the yaw angle of the advance support, and performs lateral adjustment in advance when a collision is predicted to occur, so as to avoid stopping the frame moving during the moving process, performing lateral adjustment, and then moving the frame again; and, compared with the situation of three-dimensional modeling of the entire tunnel, this system takes less time and does not affect the moving process of the advance support.

[0040] Figure 4 An example of a physical structure diagram of an electronic device is shown in FIG. Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430 and a communication bus 440, wherein the processor 410, the communication interface 420 and the memory 430 communicate with each other through the communication bus 440. The memory 430 includes a computer program, an operating system and acquired data, and the processor 410 may call the logic instructions in the memory 430 to execute the advance support moving control method, the method comprising: acquiring the spatial point cloud around the advance support and the yaw angle of the advance support; acquiring the coal wall and equipment positions according to the spatial point cloud around the advance support; reconstructing the coal wall plane and the equipment plane according to the coal wall and equipment positions; predicting the advance support moving spatial plane according to the advance support yaw angle; and adjusting the yaw angle of the advance support when the advance support moving spatial plane has a graphical intersection with the coal wall plane and the equipment plane.

[0041] In addition, the logic instructions in the above-mentioned memory 430 can be implemented in the form of a software functional unit and can be stored in a computer-readable storage medium when it is sold or used as an independent product. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the relevant technology or the part of the technical solution, can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0042] On the other hand, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to execute the advance support moving control method provided by the above-mentioned methods, the method comprising: obtaining a spatial point cloud and a yaw angle of the advance support around the advance support; obtaining the position of the coal wall and equipment based on the spatial point cloud around the advance support; reconstructing the coal wall plane and the equipment plane based on the position of the coal wall and the equipment; predicting the advance support moving spatial plane based on the advance support yaw angle; and adjusting the yaw angle of the advance support when there is a graphical intersection between the advance support moving spatial plane and the coal wall plane and the equipment plane.

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

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

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

Claims

1. A method for controlling the moving of an advanced support, characterized in that: include: Obtain the spatial point cloud around the leading support and the yaw angle of the leading support; Acquire the coal wall and equipment positions according to the spatial point cloud around the advance support; Reconstructing the coal wall plane and the equipment plane according to the coal wall and equipment positions; Predicting the moving space plane of the leading support according to the yaw angle of the leading support; When the advance support moving space plane intersects with the coal wall plane and the equipment plane, the yaw angle of the advance support is adjusted.

2. The method for controlling the moving of the advanced support according to claim 1, characterized in that: The reconstructing the coal wall plane and the equipment plane according to the coal wall and the equipment position comprises: Constructing a coordinate point set, determining a plurality of coordinate points in the coordinate point set according to the position and distance relationship between the coal wall and the equipment, wherein the plurality of coordinate points have a position relationship, and taking the coordinate point set as a spatial region; The coal wall plane and the equipment plane are reconstructed according to the spatial area.

3. The method for controlling the moving of the advanced support according to claim 2, characterized in that: The reconstructing the coal wall plane and the equipment plane according to the spatial area includes: Construct the initial coal wall plane equation and equipment plane equation; Calculating the first distances from all coordinate points in the spatial region to the initial coal wall plane equation, considering the coordinate points whose first distances are less than a preset first threshold as first inner points, and updating the initial coal wall plane equation according to the first inner points to obtain the coal wall plane; The second distances from all coordinate points in the spatial area to the initial device plane equation are calculated, coordinate points whose second distances are less than a preset second threshold are regarded as second inner points, and the initial device plane equation is updated according to the second inner points to obtain the device plane.

4. The method for controlling the moving of the advanced support according to claim 1, characterized in that: The method of predicting the moving space plane of the leading support according to the yaw angle of the leading support comprises: Constructing a plane equation according to the moving path of the leading support from the starting point to the end point, wherein the plane equation includes a moving vector, and the moving vector is obtained by calculating based on the yaw angle of the leading support; The yaw angle of the leading support obtained in real time is sequentially input into the plane equation to predict the moving space plane of the leading support.

5. The method for controlling the moving of the advanced support according to claim 4, characterized in that: The adjusting the yaw angle of the leading support comprises: Determining an adjustment angle according to a relative position between a current position of the advance bracket and a nearest potential collision point, wherein a size of the adjustment angle is determined according to a predicted collision area, and a direction of the adjustment angle is determined according to a predicted collision position; The yaw angle of the leading support is adjusted according to the adjustment angle by a transverse oil cylinder.

6. The method for controlling the moving of the advanced support according to claim 1, characterized in that: After the advance bracket moving frame stops, the method further comprises: Monitor whether the pressure of the front and rear columns of the advanced hydraulic support reaches the preset initial support force; If it is not reached, a column raising operation is performed to make the pressure of the front and rear columns of the advance hydraulic support meet the preset initial support force.

7. The method for controlling the moving of the advanced support according to claim 1, characterized in that: The obtaining of the coal wall and equipment positions according to the spatial point cloud around the advance support comprises: The yaw angle of the advance support is detected by a tilt sensor installed on the advance support base, and the position of the coal wall and equipment is determined by the spatial point cloud around the advance support scanned by a laser radar installed on the advance support.

8. An advance support frame moving control device, characterized in that: include: The first acquisition module is used to acquire the spatial point cloud around the leading support and the yaw angle of the leading support; The second acquisition module is used to acquire the coal wall and equipment positions according to the spatial point cloud around the advance support; A reconstruction module, used for reconstructing the coal wall plane and the equipment plane according to the coal wall and the equipment position; A prediction module, used for predicting the moving space plane of the leading support according to the yaw angle of the leading support; The adjustment module is used to adjust the yaw angle of the advance support when the advance support moving space plane intersects with the coal wall plane and the equipment plane.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the advance bracket moving control method as described in any one of claims 1 to 7 is implemented.

10. A non-transitory readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the advance support frame moving control method as described in any one of claims 1 to 7 is implemented.

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