Electro-hydraulic control system of hydraulic support

Abstract

The invention discloses a hydraulic support electro-hydraulic control system, which belongs to the technical field of hydraulic support electro-hydraulic control and comprises a model building module, a working area delimiting module, a hydraulic support positioning module, an overlapping area judging module and a hydraulic support control module. The method comprises the following steps: firstly, constructing a three-dimensional model of a coal mining area, then dividing a to-be-operated coal mining area on the constructed three-dimensional model of the coal mining area, and then positioning edge position information of all hydraulic supports in the coal mining area; compared with the prior art, the system has the advantages that electro-hydraulic control can be carried out only by judging whether the two regions coincide or not, the data processing amount is small, and the system is easy to operate and convenient to use. The control speed is high.

Description

Technical Field

[0001] The present invention belongs to the technical field of electro-hydraulic control of hydraulic supports, and particularly relates to an electro-hydraulic control system for hydraulic supports. Background Art

[0002] With the development of the coal industry, coal mining technologies have been continuously improved. Among them, fully mechanized mining technology is widely used in coal mining due to its high production efficiency, high resource recovery rate, and good safety performance.

[0003] As an important device in the fully mechanized mining face, the performance of the hydraulic support directly affects the safe production and production efficiency of the fully mechanized mining face.

[0004] The electro-hydraulic control system of the hydraulic support is the key technology to realize the automatic control of the hydraulic support. It can improve the working efficiency of the hydraulic support, reduce the labor intensity of workers, and improve the level of safe production in coal mines.

[0005] Chinese Patent Application No. 202111183816.9 discloses a control method, device, equipment and medium for an electro-hydraulic control system of a hydraulic support, including obtaining first state information obtained by monitoring the operation state through a controller and second state information obtained by monitoring the operation state through a solenoid valve driver. Among them, the first state is that the first monitoring unit in the automatic following module obtains the working states of each functional module inside the controller through a state monitoring sensor, and the second state information is that the second monitoring unit in the idle monitoring module obtains the working state of the solenoid valve driver through a state monitoring sensor; when the hydraulic support is in the automatic following state, a first decision control instruction is generated and sent to the equipment management unit in the controller and the energy storage management unit in the solenoid valve driver according to the first state information, so that the equipment management unit in the controller and the energy storage management unit in the solenoid valve driver execute the first energy-saving measure; or, when the hydraulic support is in the idle state, a second decision control instruction is generated and sent to the energy storage management unit in the solenoid valve driver according to the second state information, so that the energy storage management unit in the solenoid valve driver executes the second energy-saving measure; the first decision control instruction is used to control the equipment management unit to turn off unnecessary equipment in the controller and the discharge management of the energy storage management unit; the second decision control instruction is used to control the charging management of the energy storage management unit.

[0006] The above technology has the following problems: When the existing electro-hydraulic control system of the hydraulic support controls the hydraulic support to perform energy-saving measures, it first obtains the first state information and the second state information of the hydraulic support, and then based on the first state information and the second state information, executes the first energy-saving measure or the second energy-saving measure through the first decision control instruction or the second decision control instruction. If the number of hydraulic supports is large during the process, the amount of data to be processed is large and the control speed is slow.

[0007] In view of this, a electro - hydraulic control system for hydraulic supports is designed to solve the above problems. Summary of the Invention

[0008] To solve the problems raised in the above - mentioned background technology, the present invention provides an electro - hydraulic control system for hydraulic supports, which has the characteristics of only needing to judge whether there is an overlapping area between the two regions for electro - hydraulic control, with a small amount of data processing and a fast control speed.

[0009] To achieve the above object, the present invention provides the following technical solution: An electro - hydraulic control system for hydraulic supports, comprising:

[0010] A model construction module, which collects three - dimensional point cloud data of the coal - mining area and constructs a three - dimensional model of the coal - mining area based on the three - dimensional point cloud data of the coal - mining area;

[0011] A working area demarcation module, which demarcates the coal - mining area to be worked on the constructed three - dimensional model of the coal - mining area;

[0012] A hydraulic support positioning module, which collects the edge positioning information of all hydraulic supports in the coal - mining area;

[0013] An overlapping area determination module, which judges whether the edge positioning information of all hydraulic supports in the coal - mining area coincides with the coordinates of the coal - mining area to be worked demarcated on the three - dimensional model of the coal - mining area. If there is an overlapping area, the hydraulic supports with the overlapping area are marked; if there is no overlapping area, no action is taken;

[0014] A hydraulic support control module, which performs corresponding electro - hydraulic control on the marked hydraulic supports.

[0015] Further, the model construction module includes:

[0016] A point cloud data acquisition module, which collects three - dimensional point cloud data of the coal - mining area to be constructed with a three - dimensional map through equipment;

[0017] A point cloud data pre - processing module, which pre - processes the three - dimensional point cloud data of the coal - mining area collected by the equipment, including denoising, segmentation and registration;

[0018] A point cloud data registration module, through the SIFT algorithm, first extracts the feature points in the three - dimensional point cloud data, then roughly matches the three - dimensional point cloud data from different perspectives, and then finely matches the roughly - matched three - dimensional point cloud data through the iterative closest point algorithm;

[0019] A model establishment module, through the moving least - squares method, fits the discrete and finely - matched three - dimensional point cloud data into a continuous three - dimensional surface model.

[0020] Further, the working area demarcation module includes:

[0021] A location data acquisition module for acquiring location data of a coal mining area to be worked on;

[0022] A first bounding box boundary coordinate calculation module that traverses the location data of the coal mining area to be worked on and finds the minimum values of x, y, and z in the three coordinate axes of x min , y min and z min as well as the maximum values of x max , y max and z max , and determines the boundary coordinates of the bounding box;

[0023] A first bounding box - model relationship determination module that determines the relationship between each vertex of the three - dimensional model of the coal mining area and the bounding box. If the coordinates of the vertex satisfy x min < x < x max , y min < y < y max and z min < z < z max , then the vertex is inside the bounding box; otherwise, the vertex is not inside the bounding box;

[0024] An edge vertex determination module that determines the relationship between the vertices inside the bounding box and the bounding box. If x = x min or x = x max , and y min < y < y max and z min < z < z max , and y = y min or y = y max , and x min < x < x max and z min < z < z max , and z = z min or z = z max , and x min < x < x max and y min < y < y max , then it is determined that the vertex is an edge vertex; otherwise, the vertex is not an edge vertex;

[0025] A working area demarcation module that connects the determined edge vertices, and the internal area is the demarcated working area.

[0026] Furthermore, the hydraulic support positioning module includes:

[0027] A locator installation module that installs a number of locators at the central position and the edge position of the hydraulic support respectively;

[0028] A moving module that moves the hydraulic support to different positions;

[0029] A positioning information acquisition module that acquires the positioning information of the centers and edges of hydraulic supports at different positions;

[0030] A positioning information association module that classifies the acquired positioning information of the centers and edges of hydraulic supports according to positions, that is, summarizes the positioning information of the centers and edges of hydraulic supports at the same position, calculates the correlation coefficient between the positioning information of the centers and edges of hydraulic supports at the same position, compares whether the correlation coefficients between the positioning information of the centers and edges of hydraulic supports at different positions are the same. If they are the same, it is used as the final correlation coefficient. If they are not the same, the hydraulic support is moved repeatedly to increase the acquired data until the same correlation coefficient is found;

[0031] A locator disassembly module that retains the locator at the center position of the hydraulic support and disassembles several locators at the edge positions of the hydraulic support;

[0032] A position positioning module that the locator at the center position of the hydraulic support real-time acquires the center positioning information of all hydraulic supports in the coal mining area, calculates the positioning information of the edge positions of the hydraulic supports based on the correlation coefficient between the center positioning information and the edge position positioning information of the hydraulic supports, and summarizes the positioning information of the edge positions of all hydraulic supports in the coal mining area, that is, locates the positions of all hydraulic supports in the coal mining area.

[0033] Further, the coincidence area determination module includes:

[0034] A second bounding box boundary coordinate calculation module that traverses the vertex position data of the working area delimited on the three-dimensional model of the coal mining area, and finds the minimum values x min , y min and z min as well as the maximum values x max , y max and z max , and determines the boundary coordinates of the bounding box;

[0035] A second hydraulic support - bounding box relationship determination module that determines the relationship between the edge position coordinate points located by all hydraulic supports in the coal mining area and the bounding box. If the coordinates of the coordinate points satisfy x min < x < x max , y min < y < y max and z min < z < z max , then the coordinate points are inside the bounding box. Otherwise, the coordinate points are not inside the bounding box;

[0036] Overlap area determination module: If all the coordinate points of the edge positions of a certain hydraulic support are within the bounding box, it is determined that the hydraulic support completely overlaps with the bounding box; if some of the coordinate points of the edge positions of a certain hydraulic support are within the bounding box, it is determined that the hydraulic support partially overlaps with the bounding box; if none of the coordinate points of the edge positions of a certain hydraulic support are within the bounding box, it is determined that the hydraulic support does not overlap with the bounding box.

[0037] Marking module: Mark the hydraulic supports that completely overlap and partially overlap with the bounding box.

[0038] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0039] 1. The present invention first constructs a three-dimensional model of the coal mining area, then divides the coal mining area to be worked on the constructed three-dimensional model of the coal mining area, then locates the edge position information of all hydraulic supports in the coal mining area, and then based on the edge position information of all hydraulic supports and the divided coal mining area to be worked, determines the overlapping area between the two, and finally performs electro-hydraulic control on the hydraulic supports in the overlapping area between the two. Compared with the prior art, this system only needs to determine whether there is an overlapping area between the two to perform electro-hydraulic control, with a small amount of data processing and a fast control speed.

[0040] 2. The present invention uses a bounding box to determine both the division of the coal mining area to be worked on the constructed three-dimensional model of the coal mining area and the determination of the overlapping area between the coal mining area to be worked and the edge position information of all hydraulic supports, with high accuracy.

[0041] 3. The edge position information of the hydraulic supports in the present invention is calculated based on the positioning information collected by the central position locator and the associated edge position information, with a small amount of data processing and a fast processing speed. Description of the Drawings

[0042] Figure 1 It is the overall framework diagram of the system of the present invention;

[0043] Figure 2 It is the framework diagram of the model construction module of the present invention;

[0044] Figure 3 It is the framework diagram of the working area division module of the present invention;

[0045] Figure 4 It is the framework diagram of the hydraulic support positioning module of the present invention;

[0046] Figure 5 It is the framework diagram of the overlapping area determination module of the present invention;

[0047] In the figure: 1. Model construction module; 101. Point cloud data acquisition module; 102. Point cloud data preprocessing module; 103. Point cloud data registration module; 104. Model establishment module;

[0048] 2. Working area demarcation module; 201. Position data acquisition module; 202. First bounding box boundary coordinate calculation module; 203. First bounding box - model relationship determination module; 204. Edge vertex determination module; 205. Demarcate working area module;

[0049] 3. Hydraulic support positioning module; 301. Positioner installation module; 302. Moving module; 303. Positioning information acquisition module; 304. Positioning information association module; 305. Positioner disassembly module; 306. Position location module;

[0050] 4. Coincidence area determination module; 401. Second bounding box boundary coordinate calculation module; 402. Second hydraulic support - bounding box relationship determination module; 403. Demarcate coincidence area module; 404. Marking module;

[0051] 5. Hydraulic support control module. Specific implementation mode

[0052] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0053] The present invention provides the following technical solutions: An electro - hydraulic control system for hydraulic supports, including:

[0054] Model construction module 1, which collects three - dimensional point cloud data of the coal mining area and constructs a three - dimensional model of the coal mining area based on the three - dimensional point cloud data of the coal mining area;

[0055] Working area demarcation module 2, which demarcates the coal mining area to be worked on the three - dimensional model of the constructed coal mining area;

[0056] Hydraulic support positioning module 3, which collects the edge positioning information of all hydraulic supports in the coal mining area;

[0057] Coincidence area determination module 4, which determines whether the edge positioning information of all hydraulic supports in the coal mining area coincides with the coordinates of the coal mining area to be worked demarcated on the three - dimensional model of the coal mining area. If there is a coincidence area, mark the hydraulic supports with the coincidence area. If there is no coincidence area, do not act;

[0058] The hydraulic support control module 5 performs corresponding electro-hydraulic control on the marked hydraulic supports.

[0059] Specifically, the model construction module 1 includes:

[0060] The point cloud data acquisition module 101 acquires the three-dimensional point cloud data of the coal mining area where the three-dimensional map is to be constructed through equipment;

[0061] The selection of the equipment is based on the actual situation of the coal mining area, and is not limited to one type of equipment. However, when conditions permit, the same type of equipment is preferably selected to reduce subsequent data fusion steps;

[0062] The point cloud data preprocessing module 102 preprocesses the three-dimensional point cloud data of the coal mining area acquired by the equipment, including denoising, segmentation, and registration;

[0063] Denoising: During the acquisition process of the three-dimensional point cloud data, noise will be introduced due to factors such as sensor errors and environmental interference. Denoising refers to removing the noise points to improve the quality and accuracy of the three-dimensional point cloud data. The specific steps are common knowledge and will not be elaborated here;

[0064] Segmentation: The three-dimensional point cloud data is divided into different subsets or regions, and each subset corresponds to different objects, components, or features in the three-dimensional point cloud for feature extraction. The specific steps are common knowledge and will not be elaborated here;

[0065] Registration: The point cloud data collected from different perspectives, at different times, or by different sensors is aligned to the same coordinate system so that it can be accurately stitched and fused. The specific steps are common knowledge and will not be elaborated here;

[0066] The point cloud data registration module 103 first extracts the feature points in the three-dimensional point cloud data through the SIFT algorithm, then roughly matches the three-dimensional point cloud data from different perspectives, and then finely matches the roughly matched three-dimensional point cloud data through the iterative closest point algorithm;

[0067] SIFT algorithm: Scale-invariant feature transform algorithm, which has the advantages of scale invariance, rotation invariance, and partial illumination invariance, etc., and can accurately extract feature points under different image scales, rotation angles, and illumination conditions. The specific steps are common knowledge and will not be elaborated here;

[0068] Iterative closest point algorithm: Continuously iterates to find the optimal transformation between two point clouds, minimizing the distance error between the two point clouds under a certain metric to achieve fine matching. The specific steps are common knowledge and will not be elaborated here;

[0069] The model establishment module 104 fits the discrete three-dimensional point cloud data after fine matching into a continuous three-dimensional surface model by using the moving least squares method;

[0070] Moving least squares method: within the local neighborhood of each data point, a polynomial function is fitted by the least squares method, and then the approximate value of this point is calculated according to the weights of the data points in the neighborhood, gradually constructing a continuous three-dimensional surface. The specific steps are common knowledge and will not be elaborated here.

[0071] Specifically, the working area delimitation module 2 includes:

[0072] The position data acquisition module 201 acquires the position data of the coal mining area to be worked;

[0073] The first bounding box boundary coordinate calculation module 202 traverses the position data of the coal mining area to be worked, and finds the minimum values x min 、y min and z min as well as the maximum values x max 、y max and z max to determine the boundary coordinates of the bounding box;

[0074] The first bounding box - model relationship determination module 203 determines the relationship between each vertex of the three-dimensional model of the coal mining area and the bounding box. If the coordinates of the vertex satisfy x min <x<x max 、y min <y<y max and z min <z<z max , then the vertex is inside the bounding box; otherwise, the vertex is not inside the bounding box;

[0075] The edge vertex determination module 204 determines the relationship between the vertices inside the bounding box and the bounding box. If x = x min or x = x max , and y min <y<y max and z min <z<z max , and y = y min or y = y max , and x min <x<x max and z min <z<z max , and z = z min or z = z max , and x min <x<x max and y min <y<y max, it is determined that the vertex is an edge vertex; otherwise, the vertex is not an edge vertex.

[0076] The working area delimitation module 205 connects the determined edge vertices, and the internal area is the delimited working area.

[0077] Specifically, the hydraulic support positioning module 3 includes:

[0078] The locator installation module 301 installs a number of locators at the central position and the edge position of the hydraulic support respectively;

[0079] The moving module 302 moves the hydraulic support to different positions;

[0080] The positioning information acquisition module 303 acquires the positioning information of the central and edge positions of the hydraulic support at different positions;

[0081] The positioning information association module 304 classifies the acquired positioning information of the central and edge positions of the hydraulic support according to the position, that is, summarizes the positioning information of the central and edge positions of the hydraulic supports at the same position, calculates the correlation coefficient between the positioning information of the central and edge positions of the hydraulic supports at the same position, compares whether the correlation coefficients between the positioning information of the central and edge positions of the hydraulic supports at different positions are the same. If they are the same, it is used as the final correlation coefficient. If they are not the same, the hydraulic support is moved repeatedly to increase the collected data until the same correlation coefficient is found;

[0082] The locator disassembly module 305 retains the locator at the central position of the hydraulic support and disassembles a number of locators at the edge position of the hydraulic support at the same time;

[0083] The position positioning module 306 real-time acquires the central positioning information of all the hydraulic supports in the coal mining area by the locator at the central position of the hydraulic support, calculates the positioning information of the edge position of the hydraulic support based on the correlation coefficient between the central positioning information and the edge position positioning information of the hydraulic support, and summarizes the positioning information of the edge positions of all the hydraulic supports in the coal mining area, that is, locates the positions of all the hydraulic supports in the coal mining area.

[0084] Specifically, the coincidence area determination module 4 includes:

[0085] The second bounding box boundary coordinate calculation module 401 traverses the vertex position data of the working area delimited on the three-dimensional model of the coal mining area, and finds the minimum values x min , y min and z min as well as the maximum values x max , y max and z max in the x, y, and z three coordinate axis directions, and determines the boundary coordinates of the bounding box;

[0086] The second hydraulic support - bounding box relationship determination module 402 determines the relationship between the edge position coordinate points of all the positioned hydraulic supports in the coal mining area and the bounding box. If the coordinates of the coordinate points satisfy x min < x < x max , y min < y < y max and z min < z < z max , then the coordinate point is inside the bounding box; otherwise, the coordinate point is not inside the bounding box.

[0087] The overlapping area demarcation module 403 determines that if all the edge position coordinate points of a certain hydraulic support are inside the bounding box, then it is determined that the hydraulic support completely overlaps with the bounding box; if some of the edge position coordinate points of a certain hydraulic support are inside the bounding box, then it is determined that the hydraulic support partially overlaps with the bounding box; if all the edge position coordinate points of a certain hydraulic support are not inside the bounding box, then it is determined that the hydraulic support does not overlap with the bounding box.

[0088] The marking module 404 marks the hydraulic supports that completely overlap and partially overlap with the bounding box.

[0089] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An electro-hydraulic control system for a hydraulic support, characterized in that, Including: A model construction module (1) that collects three-dimensional point cloud data of a coal mining area and constructs a three-dimensional model of the coal mining area based on the three-dimensional point cloud data of the coal mining area; A working area demarcation module (2) that demarcates the coal mining area to be worked on the constructed three-dimensional model of the coal mining area; A hydraulic support positioning module (3) that collects the edge positioning information of all hydraulic supports in the coal mining area; A coincidence area determination module (4) that determines whether the edge positioning information of all hydraulic supports in the coal mining area coincides with the coordinates of the coal mining area to be worked demarcated on the three-dimensional model of the coal mining area. If there is a coincidence area, mark the hydraulic supports with the coincidence area. If there is no coincidence area, do not act; A hydraulic support control module (5) that performs corresponding electro-hydraulic control on the marked hydraulic supports.

2. The electro-hydraulic control system of a hydraulic support according to claim 1, characterized in that: The model construction module (1) includes: A point cloud data acquisition module (101) that acquires three-dimensional point cloud data of the coal mining area to construct a three-dimensional map through equipment; A point cloud data preprocessing module (102) that preprocesses the three-dimensional point cloud data of the coal mining area acquired by the equipment, including denoising, segmentation, and registration; A point cloud data registration module (103) that, through the SIFT algorithm, first extracts feature points from the three-dimensional point cloud data, then roughly matches the three-dimensional point cloud data from different perspectives, and then finely matches the roughly matched three-dimensional point cloud data through the iterative closest point algorithm; A model establishment module (104) that, through the moving least squares method, fits the discrete and finely matched three-dimensional point cloud data into a continuous three-dimensional surface model.

3. The electro-hydraulic control system of a hydraulic support according to claim 2, characterized in that: The working area demarcation module (2) includes: A position data acquisition module (201) that acquires the position data of the coal mining area to be worked; The first bounding box boundary coordinate calculation module (202) traverses the position data of the coal mining area to be worked, and finds the minimum values of x, y, and z in the three coordinate axis directions of x min , y min , and z min , as well as the maximum values of x max , y max , and z max , and determines the boundary coordinates of the bounding box; The first bounding box - model relationship determination module (203) determines the relationship between each vertex of the 3D model of the coal mining area and the bounding box. If the coordinates of the vertex satisfy x min < x < x max , y min < y < y max and z min < z < z max , then the vertex is inside the bounding box; otherwise, the vertex is not inside the bounding box. Edge vertex determination module (204), which determines the relationship between the vertices within the bounding box and the bounding box. If x = x min or x = x max , and y min < y < y max and z min < z < z max , and y = y min or y = y max , and x min < x < x max and z min < z < z max , and z = z min or z = z max , and x min < x < x max and y min < y < y max , then it is determined that the vertex is an edge vertex; otherwise, the vertex is not an edge vertex. A working area demarcation module (205) that connects the determined edge vertices, and the internal area is the demarcated working area.

4. The electro-hydraulic control system of a hydraulic support according to claim 3, characterized in that: The hydraulic support positioning module (3) includes: A locator installation module (301) that installs several locators at the central position and edge positions of the hydraulic support respectively; A moving module (302) that moves the hydraulic support to different positions; A positioning information acquisition module (303) that acquires the positioning information of the central and edge positions of the hydraulic support at different positions; A positioning information association module (304) that classifies the acquired positioning information of the central and edge positions of the hydraulic support according to the position, that is, summarizes the positioning information of the central and edge positions of the hydraulic support at the same position, calculates the correlation coefficient between the positioning information of the central and edge positions of the hydraulic support at the same position, and compares whether the correlation coefficients between the positioning information of the central and edge positions of the hydraulic support at different positions are the same. If they are the same, use it as the final correlation coefficient. If they are not the same, repeat moving the hydraulic support and increasing the collected data until the same correlation coefficient is found; A locator disassembly module (305) that retains the locator at the central position of the hydraulic support and simultaneously disassembles several locators at the edge positions of the hydraulic support; The position positioning module (306) collects the central positioning information of all hydraulic supports in the coal mining area in real time by the central position locator of the hydraulic support, calculates the positioning information of the edge positions of the hydraulic support based on the correlation coefficient between the central positioning information of the hydraulic support and the edge position positioning information, and summarizes the positioning information of the edge positions of all hydraulic supports in the coal mining area, that is, positions the positions of all hydraulic supports in the coal mining area.

5. The electro-hydraulic control system of a hydraulic support according to claim 4, characterized in that: The overlapping area determination module (4) includes: The second bounding box boundary coordinate calculation module (401) traverses the vertex position data of the working area delimited on the three-dimensional model of the coal mining area to find the minimum values of x, y, and z in the three coordinate axes directions of x min , y min and z min as well as the maximum values of x max , y max and z max , and determines the boundary coordinates of the bounding box; The second hydraulic support - bounding box relationship determination module (402) determines the relationship between the edge position coordinate points of all the hydraulic support positions in the coal mining area and the bounding box. If the coordinates of the coordinate points satisfy x min <x<x max 、y min <y<y max and z min <z<z max , then the coordinate point is inside the bounding box; otherwise, the coordinate point is not inside the bounding box. The overlapping area delimitation module (403). If all the edge position coordinate points of a certain hydraulic support are within the bounding box, it is determined that the hydraulic support completely overlaps with the bounding box; if some of the edge position coordinate points of a certain hydraulic support are within the bounding box, it is determined that the hydraulic support partially overlaps with the bounding box; if all the edge position coordinate points of a certain hydraulic support are not within the bounding box, it is determined that the hydraulic support does not overlap with the bounding box. The marking module (404) marks the hydraulic supports that completely and partially overlap with the bounding box.

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