Multi-parameter fusion hydraulic support real-time pose resolving method and device

Abstract

The invention provides a multi-parameter fusion hydraulic support real-time pose calculation method and device, and the method comprises the steps: carrying out the geometric modeling of a space hinge linkage structure during the movement of a hydraulic support according to the model information, structure and structure size parameters of the hydraulic support, so as to obtain a hydraulic support hinge structure; based on the geometric constraint relation of the hinged structure of the hydraulic support, a nonlinear equation set between the oil cylinder lengths of a stand column oil cylinder and a balance oil cylinder and the attitude angle of each component is established; calculating real-time oil cylinder lengths of the upright column oil cylinder and the balance oil cylinder; and based on the real-time length of the oil cylinder, resolving the nonlinear equation set by adopting a numerical algorithm to obtain the real-time attitude angle of each component of the hydraulic support so as to determine the real-time pose of the hydraulic support. Therefore, by constructing a nonlinear equation set and introducing a numerical algorithm, a coupling structure size parameter and the real-time length of the hydraulic support oil cylinder, real-time dynamic calculation of the attitude angle of each component is achieved, the calculation speed is increased, and the timeliness of pose estimation is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of coal mining, and in particular to a multi-parameter fusion real-time posture solution method and device for a hydraulic support. Background Art

[0002] With the development of intelligent coal mining technology, the operating status of underground hydraulic supports in coal mines, as key support equipment in fully mechanized mining working faces, directly affects the safety and efficiency of coal mining operations. The spatial posture of the hydraulic support is one of the important parameters for support operation monitoring, control, and remote operation and maintenance management. In related technologies, the posture monitoring method of hydraulic supports mainly relies on inertial navigation units, angle sensors, or video image processing technology. However, there are problems such as poor real-time performance, insufficient accuracy (large cumulative errors), complex layout, and lack of intelligent integration. It is difficult to quickly and accurately obtain the spatial posture of the support in complex underground environments. Summary of the Invention

[0003] The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

[0004] To this end, the first purpose of the present invention is to propose a multi-parameter fusion real-time posture solution method for hydraulic supports. By constructing a nonlinear equation group and introducing a numerical algorithm, coupling the structural size parameters and the real-time length of the hydraulic support cylinder, real-time dynamic solution of the posture angles of each component is achieved, thereby improving the solution speed and the timeliness of the posture estimation.

[0005] The second purpose of the present invention is to provide a multi-parameter fusion hydraulic support real-time posture solving device.

[0006] A third object of the present invention is to provide an electronic device.

[0007] A fourth object of the present invention is to provide a non-transitory computer-readable storage medium storing computer instructions.

[0008] To achieve the above-mentioned purpose, the first embodiment of the present invention proposes a multi-parameter fusion real-time posture solution method for a hydraulic support, the method comprising: According to the model information, structure and structural dimension parameters of the hydraulic support, a geometric model is performed on the spatial hinge linkage structure of the hydraulic support during movement to obtain the hydraulic support articulated structure, wherein the structure is composed of multiple components and hinge points between the components, and the multiple components include a base, a column cylinder, a shield beam, a top beam, a front connecting rod, a rear connecting rod, and a balancing cylinder; Based on the geometric constraints of the hydraulic support's articulated structure, a set of nonlinear equations was established between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component. The attitude angles of each component included the rear link angle, front link angle, column cylinder angle, shield beam angle, and top beam pitch angle relative to the base. The real-time length of the column cylinder and the balancing cylinder is calculated based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder; Based on the real-time length of the cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the real-time attitude angle of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, wherein the real-time attitude angle of each component includes the real-time rotation angle of the rear connecting rod, the real-time rotation angle of the front connecting rod, the real-time rotation angle of the column cylinder, the real-time rotation angle of the shield beam, and the real-time pitch angle of the top beam.

[0009] To achieve the above-mentioned purpose, the second embodiment of the present invention proposes a multi-parameter fusion real-time posture solving device for a hydraulic support, the device comprising: A modeling module is used to geometrically model the spatial hinge linkage structure of the hydraulic support during movement based on the model information, structure, and structural dimension parameters of the hydraulic support, so as to obtain the hydraulic support articulated structure, wherein the structure is composed of a plurality of components and hinge points between the components, and the plurality of components include a base, a column cylinder, a shield beam, a top beam, a front connecting rod, a rear connecting rod, and a balancing cylinder; A construction module is used to establish a nonlinear equation group between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component based on the geometric constraints of the hydraulic support articulated structure. The attitude angles of each component include the rear link angle, front link angle, column cylinder angle, shield beam angle, and top beam pitch angle relative to the base. A calculation module is used to calculate the real-time length of the column cylinder and the balancing cylinder based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder; A solving module is used to solve the nonlinear equation group based on the real-time length of the cylinder using a numerical algorithm to obtain the real-time attitude angle of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, wherein the real-time attitude angle of each component includes the real-time rotation angle of the rear connecting rod, the real-time rotation angle of the front connecting rod, the real-time rotation angle of the column cylinder, the real-time rotation angle of the shield beam, and the real-time pitch angle of the top beam.

[0010] To achieve the above-mentioned purpose, the third aspect embodiment of the present invention proposes an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the method described in the first aspect.

[0011] In order to achieve the above-mentioned objectives, an embodiment of the fourth aspect of the present invention proposes a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable the computer to execute the method described in the first aspect.

[0012] The multi-parameter fusion real-time posture calculation method, device, electronic device, and storage medium of the hydraulic support of the present invention are as follows: based on the model information, structure, and structural dimension parameters of the hydraulic support, the spatial hinge linkage structure of the hydraulic support during motion is geometrically modeled to obtain the hydraulic support articulated structure; based on the geometric constraint relationship of the hydraulic support articulated structure, a nonlinear equation group is established between the cylinder lengths of the column cylinder and the balancing cylinder and the posture angles of each component; the real-time cylinder lengths of the column cylinder and the balancing cylinder are calculated; based on the real-time cylinder lengths, a numerical algorithm is used to solve the nonlinear equation group to obtain the real-time posture angles of each component of the hydraulic support to determine the real-time posture of the hydraulic support. Thus, by constructing a nonlinear equation group and introducing a numerical algorithm, coupling the structural dimension parameters and the real-time length of the hydraulic support cylinder, the real-time dynamic solution of the posture angles of each component is achieved, thereby improving the solution speed and the timeliness of posture estimation.

[0013] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description which follows, or may be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which: Figure 1 A schematic flow chart of a multi-parameter fusion real-time posture calculation method for a hydraulic support provided by an embodiment of the present invention; Figure 2 A geometric model diagram of a hydraulic support provided by an embodiment of the present invention; Figure 3 A schematic diagram of an articulated structure of a hydraulic support provided by an embodiment of the present invention; Figure 4 A diagram showing the placement of displacement sensors provided by an embodiment of the present invention; Figure 5 A vector diagram provided by an embodiment of the present invention Figure 1 ; Figure 6 A vector diagram provided by an embodiment of the present invention Figure 2 ; Figure 7 A vector diagram provided by an embodiment of the present invention Figure 3 ; Figure 8A flowchart for solving the real-time attitude angles of components of a hydraulic support provided by an embodiment of the present invention; Figure 9 A schematic structural diagram of a multi-parameter fusion real-time posture calculation device for a hydraulic support provided by an embodiment of the present invention; Figure 10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0015] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0016] It should be noted that the acquisition, storage, use, and processing of data in the technical solution of the present invention comply with the relevant provisions of relevant laws and regulations.

[0017] The following describes a method and device for real-time posture calculation of a hydraulic support using multi-parameter fusion according to an embodiment of the present invention with reference to the accompanying drawings.

[0018] Figure 1 A flowchart of a multi-parameter fusion real-time posture solution method for a hydraulic support provided by an embodiment of the present invention.

[0019] like Figure 1 As shown, the method includes the following steps: Step 101, based on the model information, structure and structural size parameters of the hydraulic support, geometric modeling is performed on the spatial hinge linkage structure of the hydraulic support during movement to obtain the hydraulic support articulated structure, wherein the structure is composed of multiple components and hinge points between the components, and the multiple components include a base, a column cylinder, a shield beam, a top beam, a front connecting rod, a rear connecting rod, and a balancing cylinder.

[0020] In some possible implementations, multiple spatial hinge linkage structures are formed between the components when the hydraulic support moves. That is, according to the model information, structure and structural size parameters of the hydraulic support, the spatial hinge linkage structure of the hydraulic support when it moves is geometrically modeled to obtain the hydraulic support articulated structure. Specifically, like Figure 2 As shown in the figure, the geometric model of the hydraulic support consists of a base 1, a column cylinder 2, a top beam 3, a balance cylinder 4, a shield beam 5, a front connecting rod 6, and a rear connecting rod 7. Figure 2 A geometric model diagram of a hydraulic support provided in an embodiment of the present invention.

[0021] Step 102, based on the geometric constraint relationship of the hydraulic support articulated structure, establish a group of nonlinear equations between the cylinder lengths of the column cylinder and the balance cylinder and the attitude angles of each component, wherein the attitude angles of each component include the rear link angle, front link angle, column cylinder angle, shield beam angle, and top beam pitch angle relative to the base.

[0022] Figure 3 Schematic diagram of a hydraulic support hinge structure provided by an embodiment of the present invention. Specifically, the hydraulic support hinge structure is composed of multiple fulcrums, including A, B, C, D, E, F, G, H, I, G, K, L, M, N, O, P, Q, and R. The rear link angle relative to the base (the base's coordinate system, horizontal axis X, vertical axis Y) is , front link angle , column cylinder angle , guard beam corner , the pitch angle of the top beam .

[0023] Specifically, according to Figure 3 The hydraulic support hinge structure shown in the figure is based on the geometric constraints of the hydraulic support hinge structure. The nonlinear equations between the cylinder lengths of the column cylinder and the balance cylinder and the attitude angles of each component are established, including: According to the vector summation principle, formulas (1) and (2) are obtained: (1) (2) First, according to formula (1), the vector is orthogonally decomposed. The vector is shown as Figure 1 ,like Figure 4 As shown, and decomposed into the direction parallel to the base (X-axis direction) and the direction perpendicular to the base (Y-axis direction), formulas (3) and (4) are obtained: (3) (4) Then, according to formula (2), the vector is orthogonally decomposed, and the vector is shown as Figure 2 ,like Figure 5 As shown, and decomposed into the direction parallel to the base (X-axis direction) and the direction perpendicular to the base (axis Y), formulas (5) and (6) are obtained: (5) (6) Formulas (3), (4), (5), and (6) have a total of five angles (relative to the base (angle of the X axis)), which are: The rear link angle is , front link angle , column cylinder angle , guard beam corner , the pitch angle of the top beam .

[0024] Among them, the cylinder lengths of the column cylinder and the balance cylinder need to be determined by on-site data, and the other length parameters are the structural size parameters of the hydraulic support, which will remain fixed after the hydraulic support is processed.

[0025] Step 103 : Calculate the real-time lengths of the column cylinder and the balancing cylinder based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder.

[0026] Figure 6 The embodiment of the present invention provides a displacement sensor arrangement position, such as Figure 6 As shown, 2-1 and 4-1 are the positions where (high-precision) displacement sensors are arranged on the column cylinder and the balance cylinder respectively.

[0027] In some possible embodiments, the real-time cylinder lengths of the column cylinder and the balancing cylinder are calculated based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and (two) balancing cylinders, including: obtaining the piston stroke displacement data of the column cylinder and the balancing cylinder based on the displacement sensors installed on the column cylinder and the balancing cylinder; adding the piston stroke displacement data of the column cylinder and the balancing cylinder to the initial lengths corresponding to the initial positions of the pistons of the column cylinder and the balancing cylinder to obtain the real-time cylinder lengths of the column cylinder and the balancing cylinder.

[0028] The sampling frequency of each displacement sensor can be set between 10 and 100 Hz, ensuring a response time of less than 100 ms. The piston stroke displacement data is also preprocessed during the acquisition process, including correction, filtering, and denoising, to ensure data accuracy and reliability.

[0029] In addition, angle sensors can also be used for redundant measurement to improve the system fault tolerance of the multi-parameter fusion hydraulic support real-time posture solution method.

[0030] Step 104: Based on the real-time length of the oil cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the real-time attitude angles of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, wherein the real-time attitude angles of each component include the real-time rotation angle of the rear connecting rod, the real-time rotation angle of the front connecting rod, the real-time rotation angle of the column oil cylinder, the real-time rotation angle of the shield beam, and the real-time pitch angle of the top beam.

[0031] In some possible implementations, based on the real-time length of the oil cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the real-time attitude angles of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, including: based on the real-time length of the oil cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the initial real-time attitude angles of each component of the hydraulic support; noise interference is removed from the initial real-time attitude angles of each component through a filtering algorithm to obtain the real-time attitude angles of each component, and based on the real-time attitude angles of each component, the real-time position and posture of the hydraulic support is determined, thereby improving the solution stability and adapting to the resource limitations of different computing platforms.

[0032] Specifically, based on the real-time length of the oil cylinder, the nonlinear equations can be solved using numerical algorithms such as the Newton-Raphson iterative method, the least squares method, the quasi-Newton method, and the genetic algorithm to obtain the real-time attitude angles of each component of the hydraulic support. For example, to solve the five real-time attitude angles ( 、 、 、 、 ), we need to construct an equation ( ),like Figure 7 As shown, Figure 7 Vector diagram Figure 3 , and solved by numerical algorithm, that is, by combining the cosine theorem, we have .

[0033] in, , , , .

[0034] Therefore, based on the real-time length of the oil cylinder, the nonlinear equations are solved by a numerical algorithm, so that the real-time attitude angles of all components can be solved, and the real-time posture of the hydraulic support can be determined.

[0035] Optionally, the three-dimensional posture change information of the hydraulic support corresponding to the changes in the real-time posture angle of each component at different time periods is obtained; the three-dimensional posture change information of the hydraulic support is displayed through a preset visualization interface, and based on the three-dimensional posture change information of the hydraulic support, it is judged whether the posture of the hydraulic support is abnormal, and when it is judged that the posture of the hydraulic support is abnormal (the inclination angle is too large, the structure is deformed), an early warning prompt is given on the visualization interface, wherein, after the early warning prompt is given, the sound and light alarm device corresponding to the hydraulic support can be triggered to alarm.

[0036] Optionally, the piston stroke displacement data, the real-time attitude angles of each component, the three-dimensional posture change information of the hydraulic support and the corresponding attitude abnormality data are used as the real-time posture solution data of the hydraulic support, and are synchronously uploaded to the preset cloud platform through the communication network for remote data storage. Based on the real-time posture solution data of the hydraulic support stored in the remote data storage, the health monitoring of the hydraulic support and auxiliary decision-making are carried out, and the cloud integration and remote monitoring of the real-time posture solution data of the hydraulic support are supported. It is adapted to the intelligent operation and maintenance management needs of coal mines and can be used for real-time digital twins, production status detection, risk warning, etc. of the hydraulic support group of the fully mechanized mining working face in underground coal mines.

[0037] In addition to centralized deployment on the cloud platform, it also supports the deployment of local servers through the mining area LAN to achieve a hybrid processing solution of edge computing and remote disaster recovery.

[0038] The multi-parameter fusion method for real-time pose calculation of a hydraulic support according to an embodiment of the present invention geometrically models the spatial hinge linkage structure of the hydraulic support during motion based on the model information, structure, and structural dimension parameters of the hydraulic support to obtain the hydraulic support articulated structure. Based on the geometric constraints of the hydraulic support articulated structure, a nonlinear equation system is established between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component. The real-time cylinder lengths of the column cylinder and the balancing cylinder are calculated. Based on the real-time cylinder lengths, a numerical algorithm is used to solve the nonlinear equation system to obtain the real-time attitude angles of each component of the hydraulic support to determine the real-time pose of the hydraulic support. Thus, by constructing a nonlinear equation system and introducing a numerical algorithm, coupling the structural dimension parameters and the real-time length of the hydraulic support cylinder, real-time dynamic solution of the attitude angles of each component is achieved, thereby improving the solution speed and the timeliness of pose estimation.

[0039] In summary, Figure 8 A flowchart for solving the real-time attitude angles of various components of a hydraulic support provided by an embodiment of the present invention is provided. Specifically, when the solving software is started to run the solver (the real-time attitude solution method of the hydraulic support that encapsulates multi-parameter fusion is encapsulated in the software), the user name and password are entered, and the user name or password is verified to be correct. If the user name and password are correct, the main solution page of the solving software is entered. Taking the shielded hydraulic support as an example, the parameters are input: including the geometric dimensions (structural dimension parameters) of the components such as the shielded hydraulic support base, connecting rods (front connecting rods, rear connecting rods), top beams, and shielding beams. The calculation is performed by selecting a solving algorithm (numerical algorithm). When the result does not converge, the solving software outputs the calculation time and the spatial attitude angle of the support (the real-time attitude angles of various components of the hydraulic support), performs early warning analysis, and uploads it to the cloud (issues early warning prompts based on the three-dimensional attitude change information of the hydraulic support, and uploads the real-time attitude solution data of the hydraulic support to a preset cloud platform for remote data storage).

[0040] In addition, the present invention also provides a hydraulic support real-time posture solution system for executing a multi-parameter fusion hydraulic support real-time posture solution method, wherein the hydraulic support real-time posture solution system includes: a multi-channel high-precision displacement sensor unit, a data acquisition and communication module, a posture solution processing unit, a human-computer interaction and display module, and a cloud service platform. Specifically: Multi-channel high-precision displacement sensor unit: It is installed on the column cylinder and two balancing cylinders of the hydraulic support to obtain the piston stroke displacement data of each cylinder in real time.

[0041] Data acquisition and communication module: This includes a sensor data reading module, an analog-to-digital converter (ADC), and an industrial bus communication interface, and is used to sample, encode, and upload the cylinder piston stroke signal (piston stroke displacement data).

[0042] Posture solution processing unit: Based on an industrial computer or embedded processing platform, it runs the nonlinear equation group (nonlinear mathematical model) and numerical solution algorithm constructed by the present invention to realize the dynamic calculation of the real-time posture angles of each component of the hydraulic support.

[0043] Human-computer interaction and display module: includes a local display terminal (such as a touch screen) and a host computer visualization interface, which realizes the graphical display of the three-dimensional posture change information of the hydraulic support, early warning prompts and other functions.

[0044] Cloud service platform: Upload the real-time posture solution data of the hydraulic support to the cloud server through the edge computing node to achieve remote centralized management, data analysis and operation and maintenance support.

[0045] In order to realize the above embodiment, the present invention also proposes a multi-parameter fusion hydraulic support real-time posture solving device.

[0046] Figure 9 A schematic structural diagram of a multi-parameter fusion real-time posture solving device for a hydraulic support provided in an embodiment of the present invention.

[0047] like Figure 9 As shown, the multi-parameter fusion hydraulic support real-time posture solving device 90 includes: a modeling module 91, a construction module 92, a calculation module 93, and a solving module 94.

[0048] Modeling module 91 is used to geometrically model the spatial hinge linkage structure of the hydraulic support during movement based on the model information, structure, and structural dimension parameters of the hydraulic support, so as to obtain the hydraulic support articulated structure, wherein the structure is composed of a plurality of components and hinge points between the components, wherein the plurality of components include a base, a column cylinder, a shield beam, a top beam, a front connecting rod, a rear connecting rod, and a balancing cylinder; A construction module 92 is used to establish a set of nonlinear equations based on the geometric constraints of the hydraulic support articulated structure, including the relationship between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component, wherein the attitude angles of each component include the rear link angle, the front link angle, the column cylinder angle, the shield beam angle, and the pitch angle of the top beam relative to the base; The calculation module 93 is used to calculate the real-time length of the column cylinder and the balancing cylinder based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder; The solving module 94 is used to solve the nonlinear equation group based on the real-time length of the cylinder using a numerical algorithm to obtain the real-time attitude angle of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, wherein the real-time attitude angle of each component includes the real-time rotation angle of the rear connecting rod, the real-time rotation angle of the front connecting rod, the real-time rotation angle of the column cylinder, the real-time rotation angle of the shield beam, and the real-time pitch angle of the top beam.

[0049] Furthermore, in a possible implementation of the embodiment of the present invention, the calculation module 93 is specifically configured to: According to the displacement sensors installed on the column cylinder and the balance cylinder, the piston stroke displacement data of the column cylinder and the balance cylinder are obtained; The piston stroke displacement data of the column cylinder and the balancing cylinder are added to the initial length corresponding to the initial position of the piston of each column cylinder and the balancing cylinder to obtain the real-time length of the cylinder of the column cylinder and the balancing cylinder.

[0050] Furthermore, in a possible implementation of the embodiment of the present invention, the solving module 94 is specifically configured to: Based on the real-time length of the oil cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the initial real-time attitude angles of each component of the hydraulic support; The noise interference of the initial real-time attitude angles of each component is removed by a filtering algorithm to obtain the real-time attitude angles of each component, and the real-time position and posture of the hydraulic support are determined based on the real-time attitude angles of each component.

[0051] Furthermore, in a possible implementation of the embodiment of the present invention, the apparatus further includes: An acquisition module is used to obtain the three-dimensional posture change information of the hydraulic support corresponding to the changes in the real-time posture angle of each component at different time periods; A display module is used to display the three-dimensional posture change information of the hydraulic support through a preset visual interface, and to determine whether the posture of the hydraulic support is abnormal based on the three-dimensional posture change information of the hydraulic support, and if the posture of the hydraulic support is determined to be abnormal, an early warning prompt is given on the visual interface.

[0052] Furthermore, in a possible implementation of the embodiment of the present invention, the apparatus further includes: The monitoring module is used to use the piston stroke displacement data, the real-time attitude angles of each component, the three-dimensional posture change information of the hydraulic support and the corresponding attitude abnormality data as the real-time posture solution data of the hydraulic support, and simultaneously upload them to the preset cloud platform through the communication network for remote data storage, and perform health monitoring of the hydraulic support and auxiliary decision generation based on the real-time posture solution data of the hydraulic support stored in the remote data storage.

[0053] The multi-parameter fusion real-time posture calculation device for a hydraulic support according to an embodiment of the present invention geometrically models the spatial hinge linkage structure of the hydraulic support during motion based on the model information, structure, and structural dimension parameters of the hydraulic support to obtain the hydraulic support articulated structure. Based on the geometric constraints of the hydraulic support articulated structure, a nonlinear equation system is established between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component. The real-time cylinder lengths of the column cylinder and the balancing cylinder are calculated. Based on the real-time cylinder lengths, a numerical algorithm is used to solve the nonlinear equation system to obtain the real-time attitude angles of each component of the hydraulic support to determine the real-time posture of the hydraulic support. Thus, by constructing a nonlinear equation system and introducing a numerical algorithm, coupling the structural dimension parameters with the real-time length of the hydraulic support cylinder, a real-time dynamic solution of the attitude angles of each component is achieved, thereby improving the solution speed and the timeliness of posture estimation.

[0054] In order to implement the above embodiment, the present invention further provides an electronic device, including: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor. The instructions are executed by the at least one processor to enable the at least one processor to perform the aforementioned method.

[0055] Specifically, if Figure 10 As shown, the main devices used by electronic devices for instruction processing are processors and memories. Figure 10 The figure shows a schematic diagram of a computer device. Piston stroke displacement data from displacement sensors (including column and balance cylinder displacement sensors) is transmitted to an electronic device, which can be a computer, via a computer I / O interface. The computer device's memory can store the piston stroke displacement data collected by the displacement sensors, as well as predetermined hydraulic support structural dimensional parameters, and support data reading and writing. The processor calculates the real-time attitude angles of each hydraulic support component. The computer's display detects and visualizes changes in the hydraulic support's three-dimensional posture in real time, presenting the updated data through a graphical interface.

[0056] The processor in the figure can be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0057] The storage in the figure includes computer system readable media in the form of volatile memory, such as random access memory (RAM) and cache memory. Storage systems include reading and writing data on removable, non-removable, and non-volatile magnetic media (hard disks and floppy disks). Therefore, Figure 8 Computer storage in includes various types of storage units.

[0058] After data storage is complete, the computer storage system saves the calculated hydraulic posture angle data to a permanent storage device, such as a hard drive. Key data can be uploaded to cloud storage via the computer's network interface (I / O interface). Through this implementation, the entire computing system can dynamically and in real time calculate the posture angle of hydraulic supports during fully mechanized mining operations in underground coal mines. This fully utilizes specialized computing, storage, display, and transmission capabilities, ensuring scientific, efficient, and reliable hydraulic support posture angle calculation and enabling real-time early warning monitoring of hydraulic equipment.

[0059] In order to implement the above embodiment, the present invention further proposes a non-transitory computer-readable storage medium storing computer instructions, where the computer instructions are used to enable the computer to execute the above method.

[0060] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0061] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0062] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, segment or portion of code comprising one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order depending on the functions involved, which should be understood by those skilled in the art to which the embodiments of the present invention pertain.

[0063] The logic and / or steps represented in a flowchart or otherwise described herein, for example, can be considered a sequenced list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For purposes of this specification, a "computer-readable medium" is any device that can contain, store, communicate, propagate, or transport a program for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (not exhaustive) of computer-readable media include: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and programmable read-only memory (EPROM or flash memory), fiber optic devices, and a portable compact disc read-only memory (CDROM). Furthermore, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing it in another suitable manner if necessary, and then storing it in a computer memory.

[0064] It should be understood that various components of the present invention may be implemented using hardware, software, firmware, or a combination thereof. In the aforementioned embodiments, multiple steps or methods may be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any of the following technologies known in the art, or a combination thereof, may be used: a discrete logic circuit having logic gates for implementing logic functions on data signals, an application-specific integrated circuit having suitable combinational logic gates, a programmable gate array (PGA), a field-programmable gate array (FPGA), etc.

[0065] Those skilled in the art will understand that all or part of the steps in the method of the above embodiment can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium. When the program is executed, it includes one or a combination of the steps of the method embodiment.

[0066] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing module, or each unit may exist physically separately, or two or more units may be integrated into a single module. The aforementioned integrated modules may be implemented in the form of hardware or in the form of software functional modules. If the integrated modules are implemented in the form of software functional modules and sold or used as independent products, they may also be stored in a computer-readable storage medium.

[0067] The storage medium mentioned above may be a read-only memory, a magnetic disk, or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and are not to be construed as limiting the present invention. Persons skilled in the art may make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. A multi-parameter fusion real-time posture solution method for hydraulic support, characterized by: The method comprises: According to the model information, structure and structural dimension parameters of the hydraulic support, a geometric model is performed on the spatial hinge linkage structure of the hydraulic support during movement to obtain the hydraulic support articulated structure, wherein the structure is composed of multiple components and hinge points between the components, and the multiple components include a base, a column cylinder, a shield beam, a top beam, a front connecting rod, a rear connecting rod, and a balancing cylinder; Based on the geometric constraints of the hydraulic support's articulated structure, a set of nonlinear equations was established between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component. The attitude angles of each component included the rear link angle, front link angle, column cylinder angle, shield beam angle, and top beam pitch angle relative to the base. The real-time length of the column cylinder and the balancing cylinder is calculated based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder; Based on the real-time length of the cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the real-time attitude angle of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, wherein the real-time attitude angle of each component includes the real-time rotation angle of the rear connecting rod, the real-time rotation angle of the front connecting rod, the real-time rotation angle of the column cylinder, the real-time rotation angle of the shield beam, and the real-time pitch angle of the top beam.

2. The method according to claim 1, characterized in that The method of calculating the real-time length of the column cylinder and the balancing cylinder based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder includes: According to the displacement sensors installed on the column cylinder and the balance cylinder, the piston stroke displacement data of the column cylinder and the balance cylinder are obtained; The piston stroke displacement data of the column cylinder and the balancing cylinder are added to the initial length corresponding to the initial position of the piston of each column cylinder and the balancing cylinder to obtain the real-time length of the cylinder of the column cylinder and the balancing cylinder.

3. The method according to claim 1, characterized in that The method of solving the nonlinear equations based on the real-time length of the oil cylinder by using a numerical algorithm to obtain the real-time attitude angles of the components of the hydraulic support to determine the real-time posture of the hydraulic support includes: Based on the real-time length of the oil cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the initial real-time attitude angles of each component of the hydraulic support; The noise interference of the initial real-time attitude angles of each component is removed by a filtering algorithm to obtain the real-time attitude angles of each component, and the real-time position and posture of the hydraulic support are determined based on the real-time attitude angles of each component.

4. The method according to claim 3, characterized in that The method further comprises: Obtain the three-dimensional posture change information of the hydraulic support corresponding to the changes in the real-time posture angle of each component at different time periods; The three-dimensional posture change information of the hydraulic support is displayed through a preset visualization interface, and based on the three-dimensional posture change information of the hydraulic support, it is determined whether the posture of the hydraulic support is abnormal. If the posture of the hydraulic support is determined to be abnormal, an early warning prompt is given on the visualization interface.

5. The method according to claim 4, characterized in that The method further comprises: The piston stroke displacement data, the real-time attitude angles of each component, the three-dimensional posture change information of the hydraulic support and the corresponding attitude abnormality data are used as the real-time posture solution data of the hydraulic support, and are synchronously uploaded to the preset cloud platform through the communication network for remote data storage. Based on the real-time posture solution data of the hydraulic support stored in the remote data storage, the health monitoring of the hydraulic support and the auxiliary decision generation are carried out.

6. A multi-parameter fusion hydraulic support real-time posture solving device, characterized in that: The device comprises: A modeling module is used to geometrically model the spatial hinge linkage structure of the hydraulic support during movement based on the model information, structure, and structural dimension parameters of the hydraulic support, so as to obtain the hydraulic support articulated structure, wherein the structure is composed of a plurality of components and hinge points between the components, and the plurality of components include a base, a column cylinder, a shield beam, a top beam, a front connecting rod, a rear connecting rod, and a balancing cylinder; A construction module is used to establish a nonlinear equation group between the cylinder lengths of the column cylinder and the balancing cylinder and the attitude angles of each component based on the geometric constraints of the hydraulic support articulated structure. The attitude angles of each component include the rear link angle, front link angle, column cylinder angle, shield beam angle, and top beam pitch angle relative to the base. A calculation module is used to calculate the real-time length of the column cylinder and the balancing cylinder based on the piston stroke displacement data of each cylinder obtained by the displacement sensors installed on the column cylinder and the balancing cylinder; A solving module is used to solve the nonlinear equation group based on the real-time length of the cylinder using a numerical algorithm to obtain the real-time attitude angle of each component of the hydraulic support to determine the real-time position and posture of the hydraulic support, wherein the real-time attitude angle of each component includes the real-time rotation angle of the rear connecting rod, the real-time rotation angle of the front connecting rod, the real-time rotation angle of the column cylinder, the real-time rotation angle of the shield beam, and the real-time pitch angle of the top beam.

7. The device according to claim 6, characterized in that The computing module is specifically configured to: According to the displacement sensors installed on the column cylinder and the balance cylinder, the piston stroke displacement data of the column cylinder and the balance cylinder are obtained; The piston stroke displacement data of the column cylinder and the balancing cylinder are added to the initial length corresponding to the initial position of the piston of each column cylinder and the balancing cylinder to obtain the real-time length of the cylinder of the column cylinder and the balancing cylinder.

8. The device according to claim 6, characterized in that The solution module is specifically used for: Based on the real-time length of the oil cylinder, a numerical algorithm is used to solve the nonlinear equation group to obtain the initial real-time attitude angles of each component of the hydraulic support; The noise interference of the initial real-time attitude angles of each component is removed by a filtering algorithm to obtain the real-time attitude angles of each component, and the real-time position and posture of the hydraulic support are determined based on the real-time attitude angles of each component.

9. The device according to claim 8, characterized in that The device further comprises: An acquisition module is used to obtain the three-dimensional posture change information of the hydraulic support corresponding to the changes in the real-time posture angle of each component at different time periods; A display module is used to display the three-dimensional posture change information of the hydraulic support through a preset visual interface, and to determine whether the posture of the hydraulic support is abnormal based on the three-dimensional posture change information of the hydraulic support, and if the posture of the hydraulic support is determined to be abnormal, an early warning prompt is given on the visual interface.

10. The device according to claim 9, characterized in that The device further comprises: The monitoring module is used to use the piston stroke displacement data, the real-time attitude angles of each component, the three-dimensional posture change information of the hydraulic support and the corresponding attitude abnormality data as the real-time posture solution data of the hydraulic support, and simultaneously upload them to the preset cloud platform through the communication network for remote data storage, and perform health monitoring of the hydraulic support and auxiliary decision generation based on the real-time posture solution data of the hydraulic support stored in the remote data storage.

11. An electronic device, characterized in that: include: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

12. A non-transitory computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to cause the computer to execute the method according to any one of claims 1 to 5.

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