Control system and control method for real-time contour of working face

Abstract

The invention relates to a control system and method for a real-time contour of a working face, and the method comprises the steps: carrying out the weighted fusion of obtained real-time multi-modal data, and obtaining the displacement correction data of each hydraulic support; and determining the real-time contour of the working face according to the accumulation operation of the reference contour obtained by the coal mining equipment and the displacement correction data. By fusing the pushing, sliding and moving action data of the hydraulic support, the pushing image data of the hydraulic support and the attitude data of the coal mining equipment, the advantages of each data mode can be fully utilized, and the defects of single-mode data can be overcome. Weighted fusion of multi-modal data can comprehensively consider various factors, and overall errors caused by single data errors or abnormal values are reduced. By accumulating the reference contour and the displacement correction data, the infinitesimal displacement variation of the hydraulic support can be tracked in real time on the basis of the reference contour, so that the calculation precision of the working face contour is improved, the coal mining path and the cutting strategy are optimized, and the accident risk is reduced.

Description

Technical Field

[0001] This application relates to the technical field of fully mechanized coal mining, and in particular to a control system and a control method for the real-time profile of a working face. Background Art

[0002] In a fully mechanized coal mining face, the profile shape of coal mining equipment (such as a scraper conveyor) has a direct impact on production efficiency and safety protection. Due to the frequent pushing and moving actions of hydraulic supports during the fully mechanized mining process, the shape of the coal mining equipment is constantly changing, making it difficult to calculate and display the profile of the coal mining equipment in real time and accurately, which is not conducive to the intelligent implementation of the fully mechanized mining face. Moreover, there is a correlation between the working face profile and the durability of the side guard plates of hydraulic supports and the supporting force of hydraulic supports. Therefore, how to accurately and reliably obtain the working face profile is a key issue to be studied in this field.

[0003] It should be noted that the above introduction to the technical background is only for the convenience of clearly and completely explaining the technical solutions of this application and facilitating the understanding of those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art just because these solutions are described in the background art part of this application. Summary of the Invention

[0004] The purpose of this application is to provide a control system and a control method for the real-time profile of a working face to solve the problem that it is difficult to calculate the working face profile in real time and accurately in the prior art.

[0005] To solve the above problems, a control system for the real-time profile of a working face involved in this application adopts the following technical solutions:

[0006] A multimodal data acquisition module, configured to acquire the pushing and moving action data of hydraulic supports, the pushing image data of hydraulic supports, and the attitude data of coal mining equipment;

[0007] A data processing module, configured to perform weighted fusion on the acquisition data of the multimodal data acquisition module to obtain the displacement correction data of each hydraulic support;

[0008] A profile generation module, configured to accumulate the reference profile obtained from the coal mining equipment and the displacement correction data to generate the real-time profile of the working face.

[0009] To solve the above problems, a control method involved in this application adopts the following technical solutions:

[0010] Perform weighted fusion on the acquired real-time multimodal data to obtain the displacement correction data of each hydraulic support, where the real-time multimodal data includes the pushing and moving action data of hydraulic supports, the pushing image data of hydraulic supports, and the attitude data of coal mining equipment;

[0011] Determine the real-time profile of the working face based on the cumulative operation of the reference profile obtained from the coal mining equipment and each of the displacement correction data.

[0012] To solve the above problems, a control device involved in the present application adopts the following technical solutions:

[0013] An acquisition module, which is used to perform weighted fusion on the acquired real-time multi-modal data to obtain the displacement correction data of each hydraulic support. Among them, the real-time multi-modal data includes the pushing and moving action data of the hydraulic support, the pushing image data of the hydraulic support, and the attitude data of the coal mining equipment.

[0014] A generation module, which is used to determine the real-time profile of the working face based on the cumulative operation of the reference profile obtained from the coal mining equipment and each of the displacement correction data.

[0015] To solve the above problems, an electronic device involved in the present application includes: a processor; a memory for storing instructions executable by the processor; wherein, the processor is configured to execute the instructions to implement the control method involved in the present application.

[0016] To solve the above problems, a non-transitory computer-readable storage medium involved in the present application, when the instructions in the storage medium are executed by the processor of the electronic device, enables the electronic device to execute the control method involved in the present application.

[0017] To solve the above problems, a computer program product involved in the present application includes a computer program, and the computer program implements the control method involved in the present application when executed by the processor in the communication device.

[0018] The beneficial effects of the present application are as follows:

[0019] By fusing the pushing and moving action data of the hydraulic support, the pushing image data of the hydraulic support, and the attitude data of the coal mining equipment, the advantages of each data modality can be fully utilized to make up for the deficiencies of single-modal data. The weighted fusion of multi-modal data can comprehensively consider various factors and reduce the overall error caused by single-data errors or outliers. By performing a cumulative operation on the reference profile and each displacement correction data, the small displacement change of the hydraulic support can be tracked in real time on the basis of the reference profile, thereby improving the calculation accuracy of the working face profile, helping to optimize the coal mining path and cutting strategy, and reducing the accident risk. Description of the Drawings

[0020] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for the embodiments:

[0021] Figure 1 Schematic structural diagram of a control system for real-time profile of a working face provided by an embodiment of the present application;

[0022] Figure 2 Schematic flow diagram of a control method provided by an embodiment of the present application;

[0023] Figure 3 Schematic flow diagram of another control method provided by an embodiment of the present application;

[0024] Figure 4 Schematic flow diagram of another control method provided by an embodiment of the present application;

[0025] Figure 5 Schematic structural diagram of a control device provided by an embodiment of the present application;

[0026] Figure 6 Schematic structural diagram of an electronic device provided according to an embodiment of the present application. Detailed implementation manners

[0027] In order to make the technical objectives, technical solutions and beneficial effects of the present application clearer, the technical solutions of the present application will be further described below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Generally, the components of the embodiments of the present application described and illustrated in the drawings herein can be arranged and designed in various different configurations.

[0028] The terms used in the embodiments of the present application are only for the purpose of describing specific embodiments, and are not intended to limit the embodiments of the present application. The singular forms "a" and "the" used in the embodiments of the present application and the appended claims are also intended to include the plural forms, unless the context clearly indicates otherwise. It should also be understood that the term "and / or" as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0029] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of the present application to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the embodiments of the present application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the words "if" and "when" as used herein may be interpreted as "when" or "when" or "in response to a determination".

[0030] Embodiments of the present application will be described in detail below. Examples of the embodiments are shown in the accompanying drawings, where the same or similar reference numerals denote the same or similar elements throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present application, and should not be construed as limiting the present application.

[0031] The contour shape of the fully-mechanized mining face has a direct and crucial impact on the improvement of production efficiency and the maintenance of operation safety. During the fully-mechanized mining operation, the actions of pushing the scraper conveyor and moving the hydraulic support are frequently alternated, and this dynamic characteristic causes the shape of the coal mining equipment (such as the scraper conveyor) to continuously change. However, current technical means face severe challenges in calculating and presenting the contour shape of the coal mining equipment in real time and accurately, which further makes the upper computer monitoring interface of the fully-mechanized mining face unable to immediately reflect the current bending state of coal mining.

[0032] To address the above challenges, currently, mainly the actions of pushing the scraper conveyor and moving the hydraulic support are monitored through sensors such as hydraulic support push sensors, or the operation state of the coal mining equipment is monitored by means of inertial navigation. However, a single data source often brings problems such as data loss and error accumulation. For example, single inertial navigation data may break and data may be lost during the operation of the coal mining equipment, resulting in a distorted generated contour shape; the data measured by a single hydraulic support push sensor lacks the position of the coal mining equipment and other data sources for supplementation, resulting in an unreasonable and large deviation in the contour shape of the working face.

[0033] The control system and its control method for the real-time contour of the working face according to the embodiments of the present application will be described below with reference to the accompanying drawings.

[0034] Figure 1 The structural schematic diagram of a control system for the real-time contour of the working face provided for the embodiments of the present application is as follows. Figure 1 As shown, the control system includes: a multi-modal data acquisition module, a data processing module, and a contour generation module, where:

[0035] As shown Figure 1 The multi-modal data acquisition module is responsible for capturing key operation information of the hydraulic support and the coal mining equipment from multiple dimensions, including recording detailed action data during the execution of pushing the scraper conveyor (i.e., pushing the scraper conveyor forward) and moving the hydraulic support (i.e., adjusting the position of the hydraulic support to adapt to new mining conditions) by the hydraulic support. The push and move action data includes key parameters such as the start and end times, speed, acceleration, and displacement of the action; recording the implementation images during the pushing process of the hydraulic support, including the pushing path, obstacles, or abnormal behaviors; recording the attitude data of the coal mining equipment, including the tilt angle, rotation angle, position coordinates, etc. of the coal mining equipment.

[0036] As shown Figure 1As shown, the data processing module is connected to the multi-modal data acquisition module. According to the importance of different modal data, corresponding weights are assigned to it. The weighted fusion algorithm can be used to perform weighted combination on the features of different modal data to form a unified representation. Then, based on the weighted-fused data, the displacement of each hydraulic support is corrected to obtain the displacement correction data of each hydraulic support.

[0037] As Figure 1 shown, the contour generation module is connected to the data processing module. The displacement correction data provided by the data processing module is applied to the reference contour obtained by the coal mining equipment. Through accumulation and adjustment, the real-time contour of the working face is generated. Among them, as the coal mining operation progresses, the displacement correction data will change continuously. The contour generation module can update the contour of the working face in real time according to the latest displacement correction data. The updated contour can be displayed in the form of a host computer to facilitate real-time monitoring of the state of the working face.

[0038] Optionally, as an example, the multi-modal data acquisition module includes: a hydraulic support pushing sensor, a video analysis camera, and a navigation device. Among them, the hydraulic support pushing sensor collects the pushing and moving frame action data of the hydraulic support. Among them, the hydraulic support pushing sensor can indirectly obtain the displacement data of the support by measuring the telescopic length or pressure change of the hydraulic cylinder. These data are then converted and processed through the built-in sensor circuit to form a standardized digital signal. The converted data can be uploaded to the host computer in real time through the control module built in the hydraulic support pushing sensor. It should be noted that in some embodiments, a displacement sensor can also be used to collect the pushing and moving frame action data of the hydraulic support; an ultrasonic sensor can also be used to reflect the pushing and moving frame action data of the hydraulic support by measuring the distance change.

[0039] The video analysis camera collects the pushing image data of the hydraulic support, analyzes the pushing situation of the hydraulic support from it, calculates the displacement change of the support, and obtains the pushing image data of the hydraulic support. In addition, the video analysis camera can also perform visual recognition and processing on the position of the coal mining equipment, so as to obtain the relative displacement between the hydraulic support and the coal mining equipment, thereby further correcting and calibrating the displacement change of the hydraulic support. It should be noted that in some embodiments, a lidar can also be used to collect the pushing image data of the hydraulic support.

[0040] The navigation device collects various attitude information of the coal mining equipment, such as the body inclination angle, drum inclination angle, displacement, acceleration, etc. Then, based on these attitude information and the obtained coal mining strategy, a geometric model or attitude solution algorithm (such as Kalman filtering, quaternion method, etc.) can be used to calculate the real-time attitude of the coal mining equipment. As an example, the navigation device includes an inertial measurement unit that uses inertial sensors to measure the acceleration and angular velocity of the coal mining equipment, thereby calculating the motion states such as the position, velocity, and attitude of the coal mining equipment.

[0041] Optionally, as an example, the data processing module includes: a preprocessing unit, a synchronization unit, and a main control unit. Among them, the preprocessing unit performs outlier detection and filtering operations on the collected data, identifying and removing sudden changes or abnormal increments that deviate from the benchmark in the data; the synchronization unit is connected to the preprocessing unit and aligns the collected multi-modal data based on timestamps to ensure data synchronization at each moment; the main control unit is connected to the synchronization unit and performs weighted fusion processing on the collected data, which can make full use of the advantages of each modal data while reducing or eliminating errors or uncertainties in the data to obtain the displacement correction data of each hydraulic support.

[0042] It should be noted that the data processing module can also be set in other ways, such as using an Application Specific Integrated Circuit (ASIC for short. ASIC is an integrated circuit designed and manufactured for specific user requirements and specific systems. In this embodiment, this integrated circuit is characterized as a stability detection circuit), an IP core (the full English name is intellectual property core. An IP core is a mature design of a circuit module with independent functions in chip or integrated circuit design. This circuit design can be applied to other chip or integrated circuit design projects containing this circuit module, thereby reducing the design workload, shortening the design cycle, and improving the success rate of chip or integrated circuit design. IP cores are classified into three levels: behavioral level, structural level, and physical level, corresponding to three types of IP cores, namely soft cores designed with hardware description languages, solid cores that complete structural descriptions, and hard cores based on physical descriptions and verified through processes). The specific setting forms are not elaborated here one by one. As long as it can be used to perform weighted fusion on the collected data of the multi-modal data acquisition module to obtain the displacement correction data of each hydraulic support, any setting form of the data processing module is applicable and is not limited to this embodiment.

[0043] Optionally, as an example, the contour generation module includes: a database, a calculation unit, and a correction unit. Among them, the database is used to store the data of the pushing and caving actions of the hydraulic support and the displacement correction data. Among them, the data of the pushing and caving actions of the hydraulic support includes displacement, speed, acceleration, etc.; the displacement correction data is used to eliminate data deviation caused by factors such as acquisition error, data transmission delay or loss. The calculation unit is connected to the database and sequentially superimposes the changes in the pushing and caving of each support based on the time stamp, which involves the differential processing of the data to calculate the displacement change of the support within each time interval; the correction unit is connected to the calculation unit to correct the delay or loss during the transmission of the changes in the pushing and caving of the support. After the data correction is completed, the real-time contour of the working face is generated according to the corrected data, which involves further processing and analysis of the data, such as smoothing processing, noise removal, etc., to improve the accuracy and smoothness of the contour.

[0044] In summary, the control system for the real-time contour of the working face provided by the embodiment of the present application can make full use of the advantages of each data modality and make up for the deficiencies of single-modal data by integrating the data of the pushing and caving actions of the hydraulic support, the pushing image data of the hydraulic support, and the attitude data of the coal mining equipment. The weighted fusion of multi-modal data can comprehensively consider various factors and reduce the overall error caused by single-data errors or outliers. By performing an accumulation operation on the reference contour and each displacement correction data, the small displacement change of the hydraulic support can be tracked in real time based on the reference contour, thereby providing the calculation accuracy of the working face contour, helping to optimize the coal mining path and cutting strategy, and reducing the accident risk.

[0045] Figure 2 It is a schematic flowchart of a control method provided by an embodiment of the present application.

[0046] As Figure 2 shown, this control method is applicable to the control system for the real-time contour of the working face provided by the embodiment of the present application. This control method includes but is not limited to the following steps:

[0047] S201, perform weighted fusion on the acquired real-time multi-modal data to obtain the displacement correction data of each hydraulic support, where the real-time multi-modal data includes the data of the pushing and caving actions of the hydraulic support, the pushing image data of the hydraulic support, and the attitude data of the coal mining equipment.

[0048] In a feasible implementation, the real-time multimodal data mainly includes the data of the pushing and moving actions of hydraulic supports, the image data of the pushing process of hydraulic supports, and the attitude data of coal mining equipment. Among them, the data of the pushing and moving actions of hydraulic supports are usually collected in real time by sensors installed on the hydraulic supports, and its content covers key parameters such as displacement, speed, and acceleration during the pushing and moving process of the hydraulic supports; the image data of the pushing process of hydraulic supports can capture the pushing process of the hydraulic supports in real time through video analysis cameras or other image acquisition devices, and provide visual features of the hydraulic supports during the pushing process, such as displacement amount, deformation degree, etc.; the attitude data of coal mining equipment can be collected through inertial navigation or attitude sensors, and its content includes the inclination angle, height change, etc. of the coal mining equipment, and these parameters are closely related to the displacement of the hydraulic supports.

[0049] In a feasible implementation, the purpose of weighted fusion is to make full use of the advantages of each modal data to improve the accuracy and reliability of displacement correction data. Weighted fusion usually includes: multimodal data time alignment, weight setting, data preprocessing, error compensation, dynamic weight adjustment, etc. Multimodal data time alignment ensures that each modal data provides information at the same time point. The TDengine database can be used to align different modal data according to timestamps. For example, the TDengine database can perform time alignment through data insertion, query, aggregation, etc. Weight setting can be performed using a weighted fusion model. The weighted fusion model can use algorithms such as weighted average, Kalman filter, and particle filter, and set different weight coefficients for the data of the pushing and moving actions of hydraulic supports, the image data of the pushing process of hydraulic supports, and the attitude data of coal mining equipment according to the reliability, accuracy, and historical performance of each modal data. The weight coefficient can be dynamically adjusted based on experience, experimental data, or machine learning algorithms. Data preprocessing can perform operations such as outlier detection, filtering, denoising, and smoothing on each modal data. Further, outliers can be identified by setting thresholds or using statistical methods (such as the 3σ principle), and these outliers can be removed or smoothed to improve data quality; and key features such as displacement, speed, acceleration, and deformation degree are extracted from each modal data. Error compensation is that during the real-time calculation process, if there are deviations between the data of the pushing and moving actions, attitude data and the image data of the pushing process, the pushing and moving action data and attitude data can be compensated by the visual calibration increment of the pushing process image acquisition device. This compensation mechanism can dynamically adjust the data to make the pushing and moving action data and attitude data more in line with the actual situation. Dynamic weight adjustment is that in complex scenarios (such as the stability decline of the multimodal data acquisition module, changes in video image illumination conditions, dust interference, etc.), the weights of each modal data can be automatically adjusted again through algorithms such as weighted average, Kalman filter, and particle filter. This dynamic adjustment can ensure high contour generation accuracy in different scenarios.

[0050] S202. Determine the real-time profile of the working face based on the cumulative operation of the reference profile obtained from the coal mining equipment and each displacement correction data.

[0051] In a feasible implementation manner, each time the actions of pushing the conveyor or moving the support are performed, the action data of pushing the conveyor and moving the support of each hydraulic support will be collected and stored; the reference profile obtained based on the attitude information of the coal mining equipment (this attitude information can be collected by means of inertial navigation) is the key to the entire profile generation process. Among them, the attitude information includes information such as position and time, which provides a relatively accurate reference for the generation of the profile. Further, the reference profile usually includes the time and position information of the cutter starting point in the coal mining equipment. These information are the starting points for subsequent data superposition, ensuring the continuity and accuracy of profile generation.

[0052] In a feasible implementation manner, starting from the time of the cutter starting point in the coal mining equipment, and then successively superimposing the displacement correction data of each support (this displacement correction data is the correction value for the actions of pushing the conveyor and moving the support of the hydraulic support). As the actions of pushing the conveyor and moving the support continue, the profile of the working face will be continuously updated. When a new round of attitude data is generated, the shape of the working face will be refreshed. This process not only maintains the high accuracy of the profile information but also can automatically correct the problems of delay or data loss in the superposition process.

[0053] In summary, the control method for the real-time profile of the working face provided by the embodiments of the present application can make full use of the advantages of each data modality and make up for the deficiencies of single-modal data by integrating the action data of pushing the conveyor and moving the support of the hydraulic support, the image data of the movement of the hydraulic support, and the attitude data of the coal mining equipment. The weighted fusion of multi-modal data can comprehensively consider various factors and reduce the overall error caused by single-data errors or outliers. By performing the cumulative operation on the reference profile and each displacement correction data, it is possible to track the small displacement change amount of the hydraulic support in real time based on the reference profile, thereby improving the calculation accuracy of the working face profile, helping to optimize the coal mining path and cutting strategy, and reducing the accident risk.

[0054] Figure 3 It is a schematic flowchart of another control method provided by the embodiments of the present application.

[0055] As Figure 3 shown, this control method is applicable to the control system for the real-time profile of the working face provided by the embodiments of the present application. This control method includes but is not limited to the following steps:

[0056] S301. Obtain the reference profile of the coal mining equipment during the previous cut operation.

[0057] In a feasible implementation, before obtaining the data of the previous cut operation, key parameters such as the position, inclination angle, cutting depth, cutting angle, and drum diameter of the coal mining equipment are recorded. After obtaining these key parameters, a three-dimensional model of the coal mining equipment is constructed. According to the geological conditions and mining conditions of the coal seam, a geological model of the working face can be constructed. Then, the three-dimensional model of the coal mining equipment and the geological model are matched, and based on the key parameters during the previous cut operation, the reference contour of the coal mining equipment on the working face is extracted.

[0058] S302. Based on the reference contour, obtain the displacement correction data of each hydraulic support.

[0059] In a feasible implementation, according to the reference contour, the relative positions between the coal mining equipment and the hydraulic supports can be determined. The relative positions between the coal mining equipment and each hydraulic support can be obtained by using inertial navigation based on the reference contour during the previous cut operation; or the relative positions between the coal mining equipment and each hydraulic support can be determined by using infrared positioning. Infrared transmitting and receiving devices are respectively set on the coal mining equipment and the hydraulic supports, and through infrared signal transmission and reception, the relative positions between the coal mining equipment and each hydraulic support are determined.

[0060] Next, based on the relative positions, multi-modal acquisition of the pushing and shifting actions of the hydraulic supports, the pushing and shifting diagrams of the hydraulic supports, and the coal mining equipment is performed to obtain the real-time multi-modal data of the working face. The real-time multi-modal data includes the data of the pushing and shifting actions of the hydraulic supports, the pushing and shifting image data of the hydraulic supports, and the attitude data of the coal mining equipment. Next, the real-time multi-modal data is weighted and fused to obtain the displacement correction data of each hydraulic support.

[0061] For further specific content of step S302, reference can be made to the relevant content recorded in the above embodiments, and details are not described here again.

[0062] S303. Determine the real-time contour of the working face according to the cumulative operation of the reference contour and each displacement correction data.

[0063] In a feasible implementation, if the reference contour is obtained by using inertial navigation, the reference contour can be added to each displacement correction data to obtain the displacement data of each hydraulic support. Then, the displacement data is spliced according to the hydraulic support serial number and time series to obtain the real-time contour of the working face.

[0064] As an example, when the coal mining equipment advances along the working face, the position information P ref (t) of the coal mining equipment is obtained by using inertial navigation, and this position information P ref (t) is used as the reference contour, where P ref (t) = (x ref (t), y ref(t)), x ref (t) and y ref (t) are the abscissa and ordinate of the coal mining equipment obtained based on the previous cutting time t. Among them, the attitude data of the coal mining equipment is also obtained based on inertial navigation.

[0065] Furthermore, the displacement data of the i-th hydraulic support within the time interval Δt can be expressed as ΔP i =(Δx i , Δy i ).

[0066] The displacement correction data of each hydraulic support can be obtained through weighted fusion. Among them, the pushing image data can be used for visual analysis to obtain the displacement increment ΔP of the hydraulic support video,i ; the displacement correction data ΔP of each hydraulic support is obtained through weighted fusion corrected,i , and the displacement correction data ΔP corrected,i can be characterized as:

[0067] ΔP corrected,i =w1ΔP i +w2ΔP video,i

[0068] where w1 and w2 are weighting coefficients obtained through weighted fusion operations.

[0069] Furthermore, based on the cumulative operation of the reference contour P ref (t) obtained from the coal mining equipment and each of the displacement correction data, the real-time contour P(t) of the working face is determined, where,

[0070] In summary, the control method for the real-time contour of the working face provided by the embodiments of the present application can make full use of the advantages of each data modality and make up for the deficiencies of single-modal data by fusing the pushing and moving data of the hydraulic support, the pushing image data of the hydraulic support, and the attitude data of the coal mining equipment. The weighted fusion of multi-modal data can comprehensively consider various factors and reduce the overall error caused by single-data errors or outliers. By performing a cumulative operation on the reference contour and each displacement correction data, it is possible to track in real time the small displacement change amount of the hydraulic support based on the reference contour, thereby improving the calculation accuracy of the working face contour, helping to optimize the coal mining path and cutting strategy, and reducing the accident risk.

[0071] It should be noted that in an implementation manner without using inertial navigation, the initial contour of the coal mining equipment in response to the working mode and the displacement increment of each hydraulic support can also be obtained according to the working mode configured by the coal mining equipment. Among them, the working mode includes cutting in, reverse cutting, etc.; the initial contour P assumed (t) can be characterized as: P assumed (t)=(xassumed (t), y assumed (t)), taking the initial contour as the reference contour. Then, sum the reference contour and each displacement increment to obtain the current position of each hydraulic support, where the current position = the initial contour P assumed (t) + displacement increment. Next, splice each current position according to the time series to obtain the real-time contour of the working face.

[0072] Figure 4 It is a schematic flowchart of another control method provided by the embodiment of the present application.

[0073] As Figure 4 shown, this control method is applicable to the control system for the real-time contour of the working face provided by the embodiment of the present application. This control method includes but is not limited to the following steps:

[0074] S401, obtain the reference contour from the historical contour data, and obtain the initial position of each hydraulic support from the reference contour.

[0075] In a feasible implementation manner, the historical contour data is obtained from a database, and these data are the contour states of the coal mining equipment in the previous cut or earlier cuts; select one or more reference time points from the historical contour data, and these time points usually represent a stable working face state or a specific mining stage; then, based on the data of the selected reference time points, construct the reference contour of the hydraulic support, and the reference contour includes the initial position of each hydraulic support and other relevant parameters (such as attitude angle, height, etc.).

[0076] S402, divide the working face into several intervals, obtain the displacement increment of each hydraulic support within the interval, and accumulate the initial position and displacement increment of each support based on the time series to obtain the current position of each hydraulic support.

[0077] In a feasible implementation manner, the push and move action data of the hydraulic support and the push and move image data of the hydraulic support can be used to calculate the displacement increment of each hydraulic support relative to the previous position. In order to balance the credibility of the push and move action data and the push and move image data, a first coefficient related to the push and move trust degree and a second coefficient related to the push and move image are introduced. Among them, the first coefficient and the second coefficient are determined by fitting based on the historical contour data, the stability of the equipment, and the influence degree of the environment, so as to obtain the relationship between the displacement increment and the push and move change amount and the push and move image change amount: displacement increment = first coefficient × push and move change amount + second coefficient × push and move image change amount. Further, accumulate the initial position of each support and the corresponding displacement increment based on the time series to obtain the current position of each hydraulic support.

[0078] S403. Concatenate all current positions within each interval and perform contour smoothing to obtain the real-time contour of the working face.

[0079] In a feasible implementation manner, according to the numbers of the supports, concatenate the current positions of the supports within each interval to form a complete dataset of the positions of the supports on the working face; then, based on this position dataset, construct a preliminary contour of the working face; and then optimize the preliminary contour to eliminate discontinuous and non-smooth parts. For example, it can be achieved by methods such as interpolation method, curve fitting, or by means such as moving average method, Gaussian smoothing method, Bessel curve fitting, etc.

[0080] Take the smoothed contour as the real-time contour of the working face. As the mining process progresses, the positions of the hydraulic supports will change, and the real-time contour can be updated by repeating the current position concatenation and contour smoothing process.

[0081] Figure 5 It is a schematic structural diagram of a control device provided by an embodiment of the present application.

[0082] As Figure 5 shown, the control device 500 includes:

[0083] An acquisition module 501. The acquisition module 501 is used to perform weighted fusion on the acquired real-time multimodal data to obtain displacement correction data for each hydraulic support. Among them, the real-time multimodal data includes the data of the pushing and shifting actions of the hydraulic supports, the image data of the pushing of the hydraulic supports, and the attitude data of the coal mining equipment.

[0084] A generation module 502. The generation module 502 is used to determine the real-time contour of the working face based on the cumulative operation of the reference contour obtained from the coal mining equipment and each displacement correction data.

[0085] Figure 6 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. Figure 6 The electronic device shown is only an example and should not impose any limitations on the functions and usage scope of the embodiments of the present application.

[0086] As Figure 6As shown, the electronic device 600 includes a processor 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a memory 606 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 are also stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0087] The following components are connected to the I / O interface 605: a memory 606 including a hard disk, etc.; and a communication section 607 including a network interface card such as a LAN (Local Area Network) card, a modem, etc., and the communication section 607 performs communication processing via a network such as the Internet; a drive 608 is also connected to the I / O interface 605 as needed.

[0088] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program carried on a computer-readable medium, and the computer program includes program codes for performing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication section 607. When the computer program is executed by the processor 601, the above functions defined in the method of the present application are executed.

[0089] In an exemplary embodiment, a storage medium including instructions is also provided, such as a memory including instructions, and the above instructions can be executed by the processor 601 of the electronic device 600 to complete the above method. Optionally, the storage medium may be a non-transitory computer-readable storage medium. For example, the non-transitory computer-readable storage medium may be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0090] In this application, a computer-readable storage medium may be any tangible medium that contains or stores a program, which can be used by or in conjunction with an instruction execution system, apparatus, or device. And in this application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries computer-readable program code. Such a propagated data signal may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which can send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical fiber cable, RF, etc., or any suitable combination of the above.

[0091] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of this application. Any equivalent replacement, modification, or partial replacement of this application that does not depart from the spirit and scope of this application shall be covered by the scope of protection of the claims of this application.

Claims

1. A control system for the real-time profile of a working face, characterized in that, Including: A multi-modal data acquisition module for acquiring the pushing and drawing action data of hydraulic supports, the pushing image data of hydraulic supports, and the attitude data of coal mining equipment; A data processing module for performing weighted fusion on the acquisition data of the multi-modal data acquisition module to obtain displacement correction data for each hydraulic support; A contour generation module for adding the reference contour obtained from the coal mining equipment to each of the displacement correction data to generate a real-time contour of the working face.

2. The control system according to claim 1, characterized in that The multi-modal data acquisition module includes: a hydraulic support pushing sensor, a video analysis camera, and a navigation device. Among them, the hydraulic support pushing sensor acquires the pushing and drawing action data of the hydraulic support; the video analysis camera acquires the pushing image data of the hydraulic support; the navigation device acquires the attitude data of the coal mining equipment.

3. The control system according to claim 2, characterized in that The navigation device includes an inertial measurement unit.

4. The control system according to claim 1, characterized in that, The data processing module includes: a preprocessing unit, a synchronization unit, and a main control unit. Among them, the preprocessing unit performs outlier detection and filtering operations on the acquisition data; the synchronization unit is connected to the preprocessing unit to align the acquisition data based on timestamps; the main control unit is connected to the synchronization unit to perform weighted fusion on the acquisition data to obtain the displacement correction data.

5. The control system according to claim 1, wherein The contour generation module includes: a database, a calculation unit, and a correction unit. Among them, the database is used to store the pushing and drawing action data and the displacement correction data; the calculation unit is connected to the database to sequentially superimpose the pushing and drawing change amounts of each support based on timestamps; the correction unit is connected to the calculation unit to correct the delay or loss during the transmission of the pushing and drawing change amounts to generate a real-time contour of the working face.

6. A control method for the real-time profile of a working face, characterized in that, Applicable to the control system of the real-time contour of the working face as described in any one of claims 1-5, the control method includes: Performing weighted fusion on the acquired real-time multi-modal data to obtain displacement correction data for each hydraulic support, where the real-time multi-modal data includes the pushing and drawing action data of the hydraulic support, the pushing image data of the hydraulic support, and the attitude data of the coal mining equipment; Determining the real-time contour of the working face according to the addition operation of the reference contour obtained from the coal mining equipment and each of the displacement correction data.

7. The control method according to claim 6, characterized in that The performing weighted fusion on the acquired real-time multi-modal data to obtain displacement correction data for each hydraulic support includes: Obtaining the reference contour of the coal mining equipment during the previous cut; Determining the relative position between the coal mining equipment and the hydraulic support according to the reference contour; Performing multi-modal acquisition on the pushing and drawing action of the hydraulic support, the pushing map of the hydraulic support, and the coal mining equipment based on the relative position to obtain the real-time multi-modal data of the working face; Performing weighted fusion on the real-time multi-modal data to obtain displacement correction data for each hydraulic support.

8. The control method according to claim 6, wherein The determining the real-time contour of the working face according to the addition operation of the reference contour obtained from the coal mining equipment and each of the displacement correction data includes: If the reference contour is obtained based on inertial navigation, adding the reference contour to each of the displacement correction data to obtain the displacement data of each hydraulic support; Splice each of the displacement data according to the hydraulic support serial number and time series to obtain the real-time contour of the working face.

9. The control method according to claim 6, wherein It further includes: Obtain the initial contour of the coal mining equipment and the displacement increment of each hydraulic support in response to the working mode according to the working mode configured by the coal mining equipment, wherein the initial contour is used as the reference contour; Sum the reference contour and each of the displacement increments to obtain the current positions of each hydraulic support; Splice the current positions according to the time series to obtain the real-time contour of the working face.

10. The control method according to claim 6, characterized in that, It further includes: Obtain the reference contour from the historical contour data, and obtain the initial position of each hydraulic support from the reference contour; Divide the working face into several intervals, obtain the displacement increment of each hydraulic support within the interval, and accumulate the initial position and the displacement increment of each support based on the time series to obtain the current position of each hydraulic support; Splice and perform contour smoothing processing on all the current positions within each interval to obtain the real-time contour of the working face.

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