Hydraulic support operation state early warning system and method
Through the hydraulic support operating status warning system with multimodal data detection and fusion processing, the problem of difficult warning of hydraulic support slipping is solved, and all-round and multi-level detection and early warning of hydraulic support is achieved, which improves the accuracy and timeliness of detection.
Patent Information
- Application Number
- CN202510417572.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-04-03
- Publication Date
- 2025-07-22
AI Technical Summary
In the prior art, the ups and downs of hydraulic support are difficult to warn, resulting in a decrease in safety factor and a decrease in production efficiency of coal mining operations. The detection of single parameters is easily disturbed by complex geological environments and insufficient detection accuracy.
Multimodal data detection module is used to obtain multiple state parameters of the hydraulic bracket in real time, and the data processing module is fusion processed to form a comprehensive evaluation index, and the early warning module makes safety judgments, and real-time detection and data analysis are performed using cameras, sensors and other equipment.
It realizes all-round and multi-level inspection of hydraulic support, improves the accuracy and timeliness of detection, and can provide early warnings before the fault occurs, avoiding the expansion of the fault.
Smart Images
Figure CN120354281A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of fully mechanized coal mining, and particularly to a hydraulic support operation status warning system and method. Background Art
[0002] In a fully mechanized coal mining face, the phenomenon of upward or downward movement of hydraulic supports has a significant impact on the safety factor and production efficiency of coal mining operations. It exacerbates the complexity of the connection between various sub-devices in coal mining equipment and accelerates the wear progress, which may lead to an imbalance in the connection relationship and overloading of each sub-device, not only weakening the coal transportation efficiency but also posing a serious risk of paralyzing the entire coal mining operation system.
[0003] It should be noted that the above introduction of 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 hydraulic support operation status warning system and method to solve the problem that it is difficult to warn of the upward or downward movement of hydraulic supports in the prior art.
[0005] To solve the above problems, a hydraulic support operation status warning system involved in this application adopts the following technical solutions:
[0006] A multi-modal data detection module, which detects multiple status parameters of a target hydraulic support in real time, where the target hydraulic support is related to the real-time operation status of coal mining equipment;
[0007] A data processing module, which fuses and processes the multiple status parameters to form a comprehensive evaluation index for the target hydraulic support;
[0008] A warning module, which receives the comprehensive evaluation index and makes a safety judgment on the real-time status of the target hydraulic support.
[0009] To solve the above problems, a hydraulic support operation status warning method involved in this application is applicable to the hydraulic support operation status warning system involved in this application, and this hydraulic support operation status warning method adopts the following technical solutions:
[0010] Obtain multiple status parameters of a target hydraulic support in real time;
[0011] Fuse and process the multiple status parameters to obtain a comprehensive evaluation index for the target hydraulic support;
[0012] Perform a safety judgment on the real-time state of the target hydraulic support according to the comparison result between the preset safety threshold and the comprehensive evaluation index.
[0013] 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 hydraulic support operation state warning method involved in the present application.
[0014] The beneficial effects of the present application are as follows:
[0015] By performing real-time detection on multiple state parameters of the target hydraulic support, the working conditions of the hydraulic support can be comprehensively reflected, realizing all-round and multi-level detection of the hydraulic support. Compared with a single state parameter, the accuracy and timeliness of detection are improved; by fusing multiple state parameters to form a comprehensive evaluation index for the target hydraulic support, the mutual influence between state parameters can be comprehensively considered, avoiding the one-sidedness that may be brought by a single state parameter judgment, thereby improving the accuracy of judgment; through the comprehensive evaluation index, early warning can be carried out before the occurrence of hydraulic support faults, which helps to avoid the expansion of faults. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required in the embodiments:
[0017] Figure 1 It is a schematic structural diagram of a hydraulic support operation state warning system provided by an embodiment of the present application;
[0018] Figure 2 It is a schematic structural diagram of a data processing module provided according to an embodiment of the present application;
[0019] Figure 3 It is a schematic structural diagram of a warning module provided according to an embodiment of the present application;
[0020] Figure 4 It is a schematic flowchart of a hydraulic support operation state warning method provided by an embodiment of the present application;
[0021] Figure 5 It is a schematic flowchart of another hydraulic support operation state warning method provided by an embodiment of the present application;
[0022] Figure 6 It is a schematic structural diagram of an electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS
[0023] To make the technical objectives, technical solutions, and beneficial effects of this application clearer, the following further explains the technical solutions of this application with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not used to limit this application, that is, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments. The components of the embodiments of this application usually described and shown in the drawings here can be arranged and designed in various different configurations.
[0024] The terms used in the embodiments of this application are only for the purpose of describing specific embodiments and are not intended to limit the embodiments of this application. The singular forms "a" and "the" used in the embodiments of this 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" used herein refers to and includes any or all possible combinations of one or more of the associated listed items.
[0025] It should be understood that although the terms first, second, third, etc. may be used in the embodiments of this 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 this 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...", "while...", or "in response to determining".
[0026] The following details the embodiments of this application, examples of which 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 drawings are exemplary and are intended to explain this application and should not be construed as a limitation of this application.
[0027] In the process of coal mining, the fully mechanized mining face cleverly utilizes a series of precisely designed hydraulic supports to build a support system for protecting the roof. These hydraulic supports operate in coordination with the coal mining equipment to ensure that the coal mining equipment can steadily advance along the predetermined trajectory and achieve efficient mining. However, in the face of the intricate geological structures inside the mine and the ever-changing characteristics of the roof pressure, the stability of the hydraulic supports faces severe challenges. Specifically, the hydraulic supports may exhibit phenomena such as upward or downward movement.
[0028] When the upward movement phenomenon occurs, the height of the hydraulic support increases abnormally, far exceeding the design range, resulting in the inability to fully release the roof pressure. This chain reaction will directly weaken the effectiveness of the support system, making it ineffective, and may further trigger catastrophic consequences such as roof collapse, posing a serious threat to mining safety.
[0029] The phenomenon of downward sliding is manifested as a significant lack of support force of the hydraulic support, making it unable to firmly take root on the ground. This imbalance of forces will trigger abnormal changes in the angle and position between the hydraulic support and the coal mining equipment, thereby interfering with the smooth operation of coal transportation. Once the coal transportation is blocked, the entire mining process will come to a standstill, and the production efficiency will be greatly reduced.
[0030] To address the phenomena of upward shifting and downward sliding, the coal mining method of the coal mining equipment can be adjusted to the swing mining method (i.e., adjusting the working direction of the coal mining equipment to form a certain angle between the scraper conveyor in the coal mining equipment and the coal wall, thereby changing the running track of the coal mining equipment, but increasing the number of cuts). However, frequent swing mining with additional cuts will cause the hydraulic support to tilt towards the head or tail of the coal mining equipment, the coal wall to be uneven, and the spacing between each hydraulic support to increase, which is not conducive to the control of the fully mechanized mining face.
[0031] In some embodiments, the position of the hydraulic support can be detected by a mechanical limiter or an inclination sensor to give an early warning of the phenomena of upward shifting and downward sliding. However, there are problems such as insufficient detection accuracy, lack of comprehensive consideration of multiple parameters, and the susceptibility to misjudgment due to reliance on a single parameter. Especially in a complex geological environment, a single parameter is easily interfered with, and the detection results may be biased or unstable.
[0032] In some embodiments, the hydraulic support can be detected by ultra-wideband radar to give an early warning of the phenomena of upward shifting and downward sliding. However, in a complex geological environment, the ultra-wideband radar may experience signal attenuation or reflection problems, which will affect the detection accuracy and result in poor adaptability.
[0033] The following describes the hydraulic support operation state early warning system and its method according to the embodiments of the present application with reference to the accompanying drawings.
[0034] Figure 1 It is a schematic structural diagram of a hydraulic support operation state early warning system provided by an embodiment of the present application.
[0035] As Figure 1 shown, the hydraulic support operation state early warning system includes but is not limited to: a multi-modal data detection module, a data processing module, and an early warning module, where:
[0036] As Figure 1 shown, the multi-modal data detection module performs real-time detection on multiple state parameters of the target hydraulic support. Among them, the hydraulic support and the coal mining equipment operate in coordination, and the target hydraulic support belongs to the hydraulic support directly related to the coal mining equipment (i.e., the hydraulic support in direct contact with the coal mining equipment during the operation of the coal mining equipment) and is closely related to the real-time operation state of the coal mining equipment; the state parameters can include but are not limited to hydraulic pressure, support displacement, vibration conditions, etc., which are used to comprehensively reflect the working state and performance of the target hydraulic support.
[0037] As shown Figure 1 in Figure 1 , the data processing module is connected to the multimodal data detection module, which fuses multiple state parameters obtained by the multimodal data detection module, extracts valuable information for evaluating the state of the target hydraulic support, and thus forms a comprehensive evaluation index for the target hydraulic support to reflect the overall performance and potential safety risks of the target hydraulic support.
[0038] As shown Figure 1 in Figure 1 , the warning module is connected to the data processing module, receives the comprehensive evaluation index output by the data processing module, and makes a safety judgment on the real-time state of the target hydraulic support.
[0039] Optionally, as an example, the multimodal data detection module includes: an included angle detection unit, a center distance detection unit, and a column angle gap detection unit, where:
[0040] The included angle detection unit is used to detect the included angle between the push rod of the target hydraulic support and the coal mining equipment in real time. During coal mining, the included angle between the push rod of the target hydraulic support and the coal mining equipment directly affects the stability and safety of the mining operation. By detecting the included angle in real time, potential unstable factors can be discovered and adjusted in time, thus avoiding equipment damage. On the other hand, by keeping the best included angle between the push rod of the target hydraulic support and the coal mining equipment, the movement of the push rod of the target hydraulic support can be precisely controlled, thereby optimizing the mining efficiency. The best included angle is determined through on-site operations and can be achieved by adjusting the included angle and observing the changes in indicators such as mining efficiency and the stability of the coal mining equipment.
[0041] The center distance detection unit detects the change trend of the center distance between adjacent target hydraulic supports in real time. By detecting the change trend of the center distance in real time, the position of the target hydraulic support can be adjusted in time to ensure that the target hydraulic support is always in the best working state, and the position deviation between the target hydraulic supports can be discovered in time, thus avoiding tilting or damage due to uneven stress. Moreover, detecting the change trend of the center distance in real time helps to discover potential safety hazards in time, such as collisions or squeezes between target hydraulic supports, and take measures to intervene in time.
[0042] The column angle gap detection unit detects the column angle gap between adjacent target hydraulic supports in real time. According to the detection result, the position and attitude of the target hydraulic support can be adjusted to keep the column angle gap within a reasonable range and avoid potential safety hazards caused by too large a gap.
[0043] Furthermore, the included angle detection unit, the center distance detection unit, and the column angle gap detection unit can all be set up using cameras. As an example, the target hydraulic support is imaged by a camera to continuously monitor the dynamic changes of the working face; then median filtering is used to remove random noise in the image; histogram equalization is applied to enhance the image contrast; then gray conversion and edge detection are performed to obtain the geometric relationship between the push rod of the target hydraulic support and the coal mining equipment, and thus the included angle is obtained; by comparing the included angle with a preset included angle threshold (for example, the included angle threshold can be 90°), if the included angle ≥ the included angle threshold, it is preliminarily judged that there may be an upward movement phenomenon; if the included angle < the included angle threshold, it is preliminarily judged that there may be a downward movement phenomenon. However, it is too restrictive to judge the upward or downward movement of the fully-mechanized coal mining face by observing only one target hydraulic support. To improve the detection accuracy, the change trend of the included angles of multiple adjacent target hydraulic supports can be considered. Through the perspective of the camera, the included angle information of multiple adjacent target hydraulic supports is detected. If multiple included angles exceed the set included angle threshold at the same time, it is judged that the fully-mechanized coal mining face may have an upward or downward movement phenomenon. It should be noted that a suitable included angle threshold is set according to the geological conditions of different working faces and various regions.
[0044] In some embodiments, the identification features on the target hydraulic support (such as product type and feature code, main parameter code, supplementary features, and modification code) are obtained through a camera, and then clustering analysis can be performed on these identification features to determine the center position of each target hydraulic support. This center position is the geometric center of the target hydraulic support and can be represented by coordinates; then, based on the geometric centers of two adjacent target hydraulic supports and in combination with the Euclidean distance formula, the center distance between the two adjacent target hydraulic supports is determined; then, based on a preset sampling period, filtering is performed on multiple adjacent center distance data to obtain the change trend of multiple adjacent center distances, where multiple adjacent center distances are related to the coal mining equipment; if multiple adjacent center distance data are consistent and exceed the preset center distance threshold, it is judged that the fully-mechanized coal mining face may have an upward or downward movement phenomenon. It should be noted that a suitable center distance threshold is set according to the geological conditions of different working faces and various regions.
[0045] In some embodiments, the edges on both sides of the gap of the target hydraulic support are obtained through a camera, and in combination with the column angle feature (the angle between the column of the target hydraulic support and the vertical direction, which is called the column inclination angle. The magnitude of the column inclination angle has an important impact on parameters such as the support efficiency of the target hydraulic support, the magnitude of the horizontal force it bears, and the support height), the edge line of the column angle gap is determined, and then the coordinates of the edge line are extracted, and the distance in the vertical direction of the coordinates is calculated as the gap width; furthermore, multiple groups of column angle gaps corresponding to multiple adjacent target hydraulic supports are obtained, and then based on a preset sampling period, the overall change trend of the multiple groups of column angle gaps is analyzed; if the data of multiple groups of column angle gaps exceed the preset column angle gap threshold at the same time, it is determined that there may be an upward or downward movement phenomenon in the fully mechanized coal mining face. It should be noted that a suitable column angle gap threshold is set according to the geological conditions of different working faces and each area.
[0046] In a feasible implementation manner, the included angle detection unit can also be set with an angle sensor, the center distance detection unit can also be set with a displacement sensor, and the column angle gap detection unit can also be set with a laser rangefinder. The setting forms of the included angle detection unit, the center distance detection unit, and the column angle gap detection unit should be selected according to the specific usage scenario.
[0047] Optionally, as an example, Figure 2 FIG. is a schematic structural diagram of a data processing module according to an embodiment of the present application.
[0048] As Figure 2 shown, the data processing module includes: a data acquisition unit, a feature extraction unit, and a target large model. Among them, multiple state parameters of the target hydraulic support are collected in real time, and these state parameters are recorded in a time series format, which helps to capture the change trend of the parameters over time. The feature extraction unit is connected to the data acquisition unit and extracts corresponding high-order features from multiple state parameters (high-order features refer to complex features obtained from the original state parameters through a certain transformation or combination and can better characterize the performance or state of the hydraulic support. These complex features can be the change amount of the included angle, the change trend of the center distance, and the change trend of the column angle gap). The target large model is connected to the feature extraction unit. By accessing the high-order features provided by the feature extraction unit, corresponding weights are assigned to each state parameter to output a comprehensive evaluation index of the target hydraulic support. This comprehensive evaluation index is used to quantitatively evaluate the performance or state of the target hydraulic support. Among them, the target large model is obtained by training a preset large model by accessing the historical state parameters of the target hydraulic support, which means that the model has learned the relationship between the state parameters and the performance of the hydraulic support in the historical data and assigns weights and conducts comprehensive evaluations on the new state parameters accordingly.
[0049] In some embodiments, each weight can be adjusted according to the conditions of the fully-mechanized coal mining face; for example, when the mine pressure is relatively high, the weight of the center distance can be increased.
[0050] In some embodiments, a machine learning model can be used as the preset large model, and then the preset large model can be trained with historical state parameters to optimize the model parameters of the preset large model, so as to obtain the target large model. The comprehensive evaluation index obtained by using the target large model is used to judge a single target hydraulic support.
[0051] Optionally, as an example, Figure 3 It is a schematic structural diagram of the early warning module provided by the embodiment of the present application.
[0052] As Figure 3 shown, the early warning module includes: a configuration unit and a comparison unit. Among them, the configuration unit is used to set a safety threshold; the comparison unit is connected to the configuration unit and the data processing module, and judges the safety of the real-time state of the target hydraulic support by comparing the safety threshold with the comprehensive evaluation index.
[0053] In some embodiments, if the comprehensive evaluation index of a single target hydraulic support ≥ the preset safety threshold, mark the target hydraulic support as an abnormal hydraulic support; then count the number of abnormal hydraulic supports among multiple adjacent target hydraulic supports; if the number of abnormal hydraulic supports ≥ the preset early warning threshold, it is determined that the corresponding target hydraulic supports have the phenomenon of upward or downward movement (that is, there is an upward or downward movement phenomenon in the fully-mechanized coal mining face). By adjusting the safety threshold and the early warning threshold, the sensitivity of multiple target hydraulic supports in the fully-mechanized coal mining face to the upward or downward movement phenomenon is adjusted. It should be noted that the safety threshold and the early warning threshold are set according to different working faces and the geological conditions of each area.
[0054] It should be added that the data processing module and the warning module can also be set in the form of an application specific integrated circuit (ASIC for short. An ASIC is an integrated circuit for a proprietary application designed and manufactured according to specific user requirements and a specific system. In this embodiment, the 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 the design of a chip or an integrated circuit. This circuit design can be applied to other chip or integrated circuit design projects containing this circuit module, thereby reducing the workload of the design, shortening the design cycle, and improving the success rate of the chip or integrated circuit design. There are three hierarchical classifications of IP cores: behavioral level, structural level, and physical level, corresponding to three types of IP cores, namely, a soft core designed with a hardware description language, a solid core that completes a structural description, and a hard core based on a physical description and verified through a process). The specific setting forms are not elaborated here one by one. As long as multiple state parameters can be fused and processed to form a comprehensive evaluation index for the target hydraulic support; and based on the comprehensive evaluation index, a safety judgment is made on the real-time state of the target hydraulic support. Any setting form of the data processing module and the warning module is applicable and is not limited to this embodiment.
[0055] In summary, the hydraulic support operation state warning system provided by the embodiment of the present application can comprehensively reflect the working conditions of the hydraulic support by real-time detecting multiple state parameters of the target hydraulic support, realizing all-round and multi-level detection of the hydraulic support. Compared with a single state parameter, the accuracy and timeliness of the detection are improved; multiple state parameters are fused and processed to form a comprehensive evaluation index for the target hydraulic support, which can comprehensively consider the mutual influence between state parameters and avoid the one-sidedness that may be brought by the judgment of a single state parameter, thereby improving the accuracy of the judgment; through the comprehensive evaluation index, early warning can be carried out before the failure of the hydraulic support occurs, which helps to avoid the expansion of the failure.
[0056] Figure 4 It is a schematic flow chart of a method for warning the operation state of a hydraulic support provided by the embodiment of the present application.
[0057] As Figure 4 shown, this method for warning the operation state of a hydraulic support is applicable to the hydraulic support operation state warning system provided by the embodiment of the present application. This method for warning the operation state of a hydraulic support includes but is not limited to the following steps:
[0058] S401, obtain multiple state parameters of the target hydraulic support in real time.
[0059] In a feasible implementation, a high-resolution camera can be used to capture images of the target hydraulic support based on a fixed sampling interval, and the captured raw data can be preprocessed (including noise removal, normalization, etc.). Required features can be extracted from the preprocessed data (including the angle between the push rod of the target hydraulic support and the coal mining equipment, the change trend of the center distance between adjacent target hydraulic supports, and the column angle gap between adjacent target hydraulic supports, etc.), and then the features belonging to different modalities can be characterized as multiple state parameters of the target hydraulic support.
[0060] S402. Perform a fusion process on the multiple state parameters to obtain a comprehensive evaluation index for the target hydraulic support.
[0061] In a feasible implementation, multiple state parameters belonging to different modalities are fused, and this fusion process can be achieved through a deep learning model, such as a multi-modal convolutional neural network or a multi-modal recurrent neural network; the implementation process includes weighted average, principal component analysis, etc.; the information of the multiple state parameters is integrated into a comprehensive index to form a comprehensive evaluation index for the target hydraulic support, so as to more comprehensively evaluate the state of the target hydraulic support. It should be noted that this comprehensive evaluation index can be a numerical value, a vector, or a matrix, and the expression form of the comprehensive evaluation index should be set according to different working faces and geological conditions in each area.
[0062] S403. Make a safety judgment on the real-time state of the target hydraulic support according to the comparison result between the preset safety threshold and the comprehensive evaluation index.
[0063] In a feasible implementation, the comparison result between the comprehensive evaluation index of each target hydraulic support and the preset safety threshold can be determined first; if the comprehensive evaluation index is greater than the safety threshold, the corresponding target hydraulic support is determined as an abnormal hydraulic support; if the number of abnormal hydraulic supports is greater than or equal to the preset warning threshold, it is determined that the corresponding target hydraulic supports have the phenomenon of upward or downward movement; if the number of abnormal hydraulic supports is less than the preset warning threshold, it is determined that the corresponding target hydraulic supports do not have the phenomenon of upward or downward movement.
[0064] For a more specific introduction to the safety judgment, reference can be made to the relevant content recorded in the above embodiments, and details are not described here again.
[0065] In summary, the hydraulic support operation status early warning method provided by the embodiments of the present application can comprehensively reflect the working conditions of the hydraulic support by real-time detecting multiple status parameters of the target hydraulic support, realizing all-round and multi-level detection of the hydraulic support. Compared with a single status parameter, the accuracy and timeliness of detection are improved; by fusing multiple status parameters to form a comprehensive evaluation index for the target hydraulic support, the mutual influence between various status parameters can be comprehensively considered, avoiding the one-sidedness that may be brought by the judgment of a single status parameter, thereby improving the accuracy of judgment; through the comprehensive evaluation index, early warning can be carried out before the failure of the hydraulic support occurs, which helps to avoid the expansion of the failure.
[0066] Figure 5 FIG. is a schematic flowchart of another hydraulic support operation status early warning method provided by the embodiments of the present application.
[0067] As Figure 5 shown, this hydraulic support operation status early warning method is applicable to the hydraulic support operation status early warning system provided by the embodiments of the present application, and this hydraulic support operation status early warning method includes but is not limited to the following steps:
[0068] S501, perform edge detection on the target hydraulic support push rod and the coal mining equipment to determine the angle between the target hydraulic support push rod and the coal mining equipment.
[0069] In a feasible implementation manner, edge detection can be performed on the target hydraulic support push rod and the coal mining equipment to respectively obtain a first set of contour points for the target hydraulic support push rod and a second set of contour points for the coal mining equipment. Among them, each contour point has a discrete attribute and can be represented as (x i , y i ).
[0070] Then, linear fitting is performed on the first set of contour points and the second set of contour points to respectively obtain a first trajectory for the first set of contour points and a second trajectory for the second set of contour points. Among them, the following formula can be used to calculate the slope m of the first trajectory and the second trajectory:
[0071]
[0072] where n is the number of contour points in the first set of contour points or the second set of contour points.
[0073] The following formula is used to calculate the intercept b of the first trajectory and the second trajectory:
[0074]
[0075] where m is the slope of the first trajectory or the second trajectory.
[0076] Furthermore, the first trajectory yrod Equation of:
[0077] y rod = m rod x + b rod
[0078] where m rod is the slope of the first trajectory; b rod is the intercept of the first trajectory.
[0079] Obtain the equation of the second trajectory y conveyor of:
[0080] y conveyor = m conveyor x + b conveyor
[0081] where m conveyor is the slope of the second trajectory; b conveyor is the intercept of the second trajectory.
[0082] Furthermore, determine the angle θ between the target hydraulic support push rod and the coal mining equipment according to the slope of the first trajectory and the slope of the second trajectory, where the following formula is used to calculate the angle between the target hydraulic support push rod and the coal mining equipment:
[0083] θ = |arctan(m rod ) - arctan(m conveyor )|
[0084] Even further, obtain the angles of multiple adjacent target hydraulic supports (which can be five adjacent target hydraulic supports). If multiple angles simultaneously exceed the set angle threshold, it is determined that the fully mechanized coal mining face may have the phenomenon of upward or downward movement.
[0085] S502. Perform cluster analysis on the geometric shapes of adjacent target hydraulic supports to obtain the change trend of the center distance between multiple adjacent target hydraulic supports.
[0086] In a feasible implementation manner, perform cluster analysis on the geometric shapes of adjacent target hydraulic supports to determine the center position of each target hydraulic support; obtain the coordinates of the center position, and determine the center line of adjacent target hydraulic supports through the Euclidean distance formula; perform time series analysis on each center line based on a preset sampling period to obtain the change trend of the center distance between multiple adjacent target hydraulic supports. Among them, if multiple adjacent center distance data are consistent and exceed the preset center distance threshold, it is determined that the fully mechanized coal mining face may have the phenomenon of upward or downward movement.
[0087] S503. Perform edge detection on the column angle gaps of each target hydraulic support to obtain the change trend of the column angle gaps between adjacent target hydraulic supports.
[0088] In a feasible implementation, edge detection is performed on the column angle gaps of each target hydraulic support to obtain the pixel coordinates corresponding to the column angle gaps; trajectory stitching operations based on feature matching are performed on the pixel coordinates to obtain a distribution map of the changes in the column angle gaps, and based on the distribution map of the changes in the column angle gaps, the change trend of the column angle gaps between adjacent target hydraulic supports is obtained.
[0089] For a further specific introduction to the column angle gaps, reference can be made to the relevant content recorded in the above embodiments, which will not be elaborated here.
[0090] S504, perform fusion processing on the change trends of the included angle, center distance, and column angle gaps to obtain a comprehensive evaluation index for the target hydraulic support.
[0091] In a feasible implementation, the change trends of the included angle, center distance, and column angle gaps are all used as state parameters of the target hydraulic support, and corresponding high-order features are extracted from multiple state parameters; the high-order features are input into a pre-trained target large model, and the target large model assigns corresponding weights to each state parameter, and based on the weights, a comprehensive evaluation index s of the target hydraulic support is obtained. Among them, the included angle is Δθ, the included angle change rate is f(Δθ); the center distance is ΔD, and the center distance change trend is g(ΔD); the column angle is ΔW, and the column angle gap change trend is h(ΔW). Then the comprehensive evaluation index s can be expressed as:
[0092] s = ω1·f(Δθ) + ω2·g(ΔD) + ω3·h(ΔW)
[0093] Among them, ω1 is the weight of the included angle; ω2 is the weight of the center distance; ω3 is the weight of the column angle gap.
[0094] S505, perform a safety judgment on the real-time state of the target hydraulic support according to the comparison result between the preset safety threshold and the comprehensive evaluation index.
[0095] For a further specific introduction to step S505, reference can be made to the relevant content recorded in the above embodiments, which will not be elaborated here.
[0096] In summary, the hydraulic support operation status early warning method provided by the embodiments of the present application can comprehensively reflect the working conditions of the target hydraulic support by detecting multiple status parameters of the target hydraulic support in real time, realizing all-round and multi-level detection of the hydraulic support. Compared with a single status parameter, the accuracy and timeliness of detection are improved; the multiple status parameters are fused to form a comprehensive evaluation index for the target hydraulic support, which can comprehensively consider the mutual influence between the status parameters and avoid the one-sidedness that may be brought by the judgment of a single status parameter, thereby improving the accuracy of judgment; through the comprehensive evaluation index, early warning can be carried out before the failure of the hydraulic support occurs, which helps to avoid the expansion of the failure.
[0097] Figure 6 FIG. is a schematic structural diagram of an electronic device according to an embodiment of the present application. Figure 6 The illustrated electronic device is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.
[0098] As Figure 6 shown, the electronic device 600 includes a processor 601, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM, Read Only Memory) 602 or the program loaded from the memory 606 into the random access memory (RAM, Random Access Memory) 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 through a bus 604. The input / output (I / O, Input / Output) interface 605 is also connected to the bus 604.
[0099] The following components are connected to the I / O interface 605: a memory 606 including a hard disk, etc.; and a communication part 607 including a network interface card such as a LAN (Local Area Network) card, a modem, etc., and the communication part 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.
[0100] Specifically, according to the embodiments of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments of the present application include a computer program carried on a computer-readable medium, and the computer program includes program codes for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 607. When the computer program is executed by the processor 601, the above functions defined in the method of the present application are executed.
[0101] 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 a processor 601 of an 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, and an optical data storage device, etc.
[0102] In the present application, a computer-readable storage medium may be any tangible medium that contains or stores a program, and this program can be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which computer-readable program code is carried. 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, and this computer-readable medium can send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on a computer-readable medium can be transmitted by any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.
[0103] Finally, it should be noted that the above embodiments are only used to illustrate rather than limit the technical solutions of the present application. Any equivalent replacement of the present application and any modification or partial replacement that does not depart from the spirit and scope of the present application shall be covered within the scope of the claims of the present application.
Claims
1. A hydraulic support operation status warning system, characterized in that, Including: A multi-modal data detection module that performs real-time detection on multiple state parameters of a target hydraulic support, where the target hydraulic support is related to the real-time operating state of a coal mining device; A data processing module that fuses and processes the multiple state parameters to form a comprehensive evaluation index for the target hydraulic support; An early warning module that makes a safety judgment on the real-time state of the target hydraulic support by receiving the comprehensive evaluation index.
2. The hydraulic support operation status early warning system according to claim 1, characterized in that, The multi-modal data detection module includes: an included angle detection unit, a center distance detection unit, and a column angle gap detection unit. Among them, the included angle detection unit is used to detect the included angle between the push rod of the target hydraulic support and the coal mining device in real time; the center distance detection unit detects the change trend of the center distance between adjacent target hydraulic supports in real time; the column angle gap detection unit detects the column angle gap between adjacent target hydraulic supports in real time.
3. The hydraulic support operation status warning system according to claim 2, wherein The included angle detection unit, the center distance detection unit, and the column angle gap detection unit are all set up with cameras.
4. The hydraulic support operation status early warning system according to claim 2, wherein, The included angle detection unit is set up with an angle sensor; the center distance detection unit is set up with a displacement sensor; the column angle gap detection unit is set up with a laser rangefinder.
5. The hydraulic support operation status early warning system according to claim 1, characterized in that, The data processing module includes: a data acquisition unit, a feature extraction unit, and a target large model. Among them, the data acquisition unit collects multiple state parameters in a time series format in real time; the feature extraction unit is connected to the data acquisition unit and extracts corresponding high-order features from the multiple state parameters; the target large model is connected to the feature extraction unit and assigns corresponding weights to each state parameter by accessing the high-order features to output the comprehensive evaluation index of the target hydraulic support, where the target large model is trained from a preset large model based on the historical state parameters of the target hydraulic support.
6. The hydraulic support operation status early warning system according to claim 1, characterized in that, The early warning module includes: a configuration unit and a comparison unit. Among them, the configuration unit is used to set a safety threshold; the comparison unit is connected to the configuration unit and the data processing module, and makes a safety judgment on the real-time state of the target hydraulic support by comparing the safety threshold with the comprehensive evaluation index.
7. A method for warning the operating state of a hydraulic support, characterized in that Applicable to the hydraulic support operation state early warning system described in any one of claims 1-6, including: Obtaining multiple state parameters of a target hydraulic support in real time; Fusing and processing the multiple state parameters to obtain a comprehensive evaluation index for the target hydraulic support; Making a safety judgment on the real-time state of the target hydraulic support according to the comparison result between a preset safety threshold and the comprehensive evaluation index.
8. The hydraulic support operation state early warning method according to claim 7, characterized in that, The obtaining multiple state parameters of a target hydraulic support in real time includes: Performing edge detection on the push rod of the target hydraulic support and the coal mining device to respectively obtain a first set of contour points for the push rod of the target hydraulic support and a second set of contour points for the coal mining device; Perform linear fitting on the first set of contour points and the second set of contour points to respectively obtain a first trajectory for the first set of contour points and a second trajectory for the second set of contour points; Determine the angle between the target hydraulic support push rod and the coal mining equipment according to the slopes of the first trajectory and the second trajectory; Perform clustering analysis on the geometric shapes of adjacent target hydraulic supports to determine the central positions between each pair of the target hydraulics; Perform time series analysis on each of the central positions based on a preset sampling period to obtain the variation trend of the center distances between multiple adjacent target hydraulic supports; Perform edge detection on the column angle gaps of each target hydraulic support to obtain the pixel coordinates corresponding to the column angle gaps; Perform trajectory stitching operations on each of the pixel coordinates based on feature matching to obtain a column angle gap change distribution map, and based on the column angle gap change distribution map, obtain the variation trend of the column angle gaps between adjacent target hydraulic supports; Take the angle, the center distance variation trend, and the column angle gap variation trend as the state parameters of the target hydraulic support.
9. The hydraulic support operation state early warning method according to claim 7, wherein, Performing fusion processing on the multiple state parameters to obtain a comprehensive evaluation index for the target hydraulic support, including: Extract corresponding high-order features from the multiple state parameters; Input the high-order features into a pre-trained target large model, and the target large model assigns corresponding weights to each of the state parameters, and according to the weights, obtain the comprehensive evaluation index of the target hydraulic support.
10. The hydraulic support operation status early warning method according to claim 7, characterized in that, Performing a safety judgment on the real-time state of the target hydraulic support according to the comparison result between a preset safety threshold and the comprehensive evaluation index, including: Determine the comparison result between the comprehensive evaluation index of each target hydraulic support and the preset safety threshold; If the comprehensive evaluation index is greater than the safety threshold, determine that the corresponding target hydraulic support is an abnormal hydraulic support; If the number of the abnormal hydraulic supports is greater than or equal to a preset warning threshold, determine that the corresponding target hydraulic supports have the phenomenon of upward or downward movement; If the number of the abnormal hydraulic supports is less than the preset warning threshold, determine that the corresponding target hydraulic supports do not have the phenomenon of upward or downward movement.