Method, device and equipment for monitoring working state of hydraulic support and medium

Abstract

The invention provides a working state monitoring method, device and equipment of a hydraulic support and a medium, and relates to the technical field of data processing. Comprising the steps that working state monitoring parameters, including telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data and hydraulic support instruction data, of the hydraulic support within a preset time period are obtained; determining working parameters of the hydraulic support based on the working state monitoring parameters, wherein the working parameters comprise telescopic rod fitting point displacement, telescopic rod fitting point speed, telescopic rod fitting line slope, an instruction displacement value, an instruction speed value and a plurality of temperature values of the telescopic rod fitting point; working indexes of the hydraulic support are calculated according to the working parameters, wherein the working indexes comprise displacement consistency, speed consistency, telescopic rod fitting line slope volatility and a temperature anomaly index; calculating a working state evaluation index of the hydraulic support based on the working index; and determining the working state grade of the hydraulic support according to the working state evaluation index. By adopting the method provided by the embodiment of the invention, the monitoring efficiency and precision can be improved.

Description

Technical Field

[0001] The present disclosure relates to the field of data processing technology, and in particular to a method, device, equipment and medium for monitoring the working status of a hydraulic support. Background Art

[0002] Hydraulic supports are core equipment for ensuring safe and efficient coal mining operations. Their operating status directly impacts coal mine production efficiency and safety. Therefore, monitoring the operating status of hydraulic supports is essential. However, manual inspections are often used to monitor the operating status of hydraulic supports, resulting in low monitoring efficiency. Summary of the Invention

[0003] The present disclosure provides a method, device, equipment and medium for monitoring the working status of a hydraulic support. The technical solution of the present disclosure is as follows:

[0004] In a first aspect, the present disclosure provides a method for monitoring the working status of a hydraulic support, comprising:

[0005] Acquire working state monitoring parameters of the hydraulic support within a preset time period; the working state monitoring parameters include telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data and hydraulic support instruction data;

[0006] Determining the operating parameters of the hydraulic support based on the operating status monitoring parameters; the operating parameters include a stability-related characteristic of the hydraulic support, a command displacement value and a command speed value, and multiple temperature values ​​of the telescopic rod fitting point; the stability-related characteristic of the hydraulic support includes a displacement of the telescopic rod fitting point, a speed of the telescopic rod fitting point, and a slope of the telescopic rod fitting line;

[0007] Calculating a working index of the hydraulic support according to the working parameters; the working index includes displacement consistency, speed consistency, slope fluctuation of the telescopic rod fitting line, and temperature anomaly index;

[0008] Calculating a working status evaluation index of the hydraulic support based on the working index;

[0009] The working state grade of the hydraulic support is determined according to the working state evaluation index; the working state grade is used to indicate the health of the hydraulic support.

[0010] In a possible implementation, determining the operating parameters of the hydraulic support based on the operating status monitoring parameters includes:

[0011] Extracting the displacement of the telescopic rod fitting point, the velocity of the telescopic rod fitting point and the slope of the telescopic rod fitting line of the hydraulic support based on the telescopic rod image data through an image processing algorithm;

[0012] Analyzing the hydraulic cylinder temperature data to obtain multiple temperature values ​​of the telescopic rod fitting points;

[0013] The hydraulic support command data is parsed to obtain a command displacement value and a command speed value.

[0014] In a possible implementation, calculating the working index of the hydraulic support according to the working parameters includes:

[0015] Calculating displacement consistency based on the displacement of the telescopic rod fitting point of the hydraulic support and the command displacement value;

[0016] Calculating speed consistency based on the telescopic rod fitting point speed and the command speed value;

[0017] Calculating the volatility of the slope of the telescopic rod fitting line based on the slope of the telescopic rod fitting line;

[0018] A temperature anomaly index is calculated based on the multiple temperature values ​​of the telescopic rod fitting points.

[0019] In a possible implementation, calculating the working status evaluation index of the hydraulic support based on the working index includes:

[0020] Based on the displacement consistency, displacement consistency error, displacement error threshold, the speed consistency, speed consistency error, speed error threshold, the telescopic rod fitting line slope fluctuation, telescopic rod fitting line slope fluctuation threshold, the temperature anomaly index, and temperature error threshold, a working condition evaluation index of the hydraulic support is calculated.

[0021] In a possible implementation, determining the working status level of the hydraulic support according to the working status evaluation index includes:

[0022] When the working state evaluation index is less than or equal to a first threshold, determining the working state level of the hydraulic support to be a healthy level;

[0023] When the working state evaluation index is greater than the first threshold value and less than or equal to the second threshold value, determining that the working state level of the hydraulic support is a sub-health level;

[0024] When the working state evaluation index is greater than the second threshold, the working state level of the hydraulic support is determined to be an unhealthy level.

[0025] In a possible implementation, the displacement consistency E is calculated based on the displacement of the telescopic rod fitting point of the hydraulic support and the command displacement value. x The way is:

[0026]

[0027] Among them, x i is the displacement of the telescopic rod fitting point at the i-th time point, x cmd,i is the command displacement value at the i-th time point, and N is the number of data points in the preset time period;

[0028] Based on the speed of the telescopic rod fitting point and the command speed value, the speed consistency E is calculated. v The way is:

[0029]

[0030] Among them, v i is the velocity of the telescopic rod fitting point at the i-th time point, v cmd,i is the command speed value at the i-th time point, and N is the number of data points in the preset time period;

[0031] The slope volatility of the telescopic rod fitting line is calculated based on the slope of the telescopic rod fitting line. k The way is:

[0032]

[0033] Among them, k i is the slope of the telescopic rod fitting line at the i-th time point, μ k is the mean slope of the telescopic rod fitting line, and N is the number of data points in the preset time period;

[0034] Based on the multiple temperature values ​​of the telescopic rod fitting points, the temperature anomaly index is calculated as follows:

[0035] T max =max(T1,T2,…,T N ) (4)

[0036] Among them, T i represents the temperature value of the telescopic rod fitting point at the i-th time point, and N is the number of data points in the preset time period.

[0037] In a possible implementation, the working condition evaluation index of the hydraulic support is calculated based on the displacement consistency, displacement consistency error, displacement error threshold, speed consistency, speed consistency error, speed error threshold, slope volatility of the telescopic rod fitting line, slope volatility threshold of the telescopic rod fitting line, temperature anomaly index, and temperature error threshold as follows:

[0038]

[0039] Among them, E x represents the displacement consistency error, E v represents the speed consistency error, σk Table 2 shows the slope volatility of the telescopic rod fitting line, T max Not the temperature anomaly index, θ x represents the displacement error threshold, θ v represents the speed error threshold, θ k is the slope volatility threshold of the telescopic rod fitting line, θ T is the temperature threshold, w1, w2, w3, and w4 represent weight coefficients respectively, and w1+w2+w3+w4=1.

[0040] In a second aspect, the present disclosure provides a device for monitoring the working state of a hydraulic support, comprising a camera, a displacement sensor, a temperature sensor, and a hydraulic support state analysis module; wherein:

[0041] The camera device is installed on the side of the hydraulic support and is used to collect image data of the telescopic rod of the hydraulic support within a preset time period;

[0042] The displacement sensor is installed at the end of the telescopic rod of the hydraulic support and is used to collect displacement data of the telescopic rod of the hydraulic support within a preset period of time;

[0043] The temperature sensor is installed on the hydraulic cylinder housing of the hydraulic support and is used to collect the temperature data of the hydraulic cylinder of the hydraulic support within a preset period of time;

[0044] The hydraulic state analysis module is respectively connected to the camera device, the displacement sensor and the temperature sensor for acquiring telescopic rod image data, telescopic rod displacement data and hydraulic cylinder temperature data from the camera device, the displacement sensor and the temperature sensor respectively;

[0045] The hydraulic state analysis module is further used to:

[0046] Acquire hydraulic support command data of the hydraulic support within a preset time period; determine the working parameters of the hydraulic support based on the working status monitoring parameters; calculate the working index of the hydraulic support based on the working parameters; calculate the working status evaluation index of the hydraulic support based on the working index; determine the working status level of the hydraulic support based on the working status evaluation index; the working status level is used to indicate the health of the hydraulic support.

[0047] In a third aspect, the present disclosure provides an electronic device, comprising:

[0048] processor;

[0049] a memory for storing instructions executable by the processor;

[0050] Wherein, the processor is configured to execute the instructions to implement the working status monitoring method of the hydraulic support described in the first aspect.

[0051] In a fourth aspect, the present disclosure provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method for monitoring the working status of the hydraulic support described in the first aspect.

[0052] In a fifth aspect, the present disclosure provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the method for monitoring the working status of the hydraulic support described in the first aspect.

[0053] The technical solution disclosed in this disclosure brings at least the following beneficial effects:

[0054] In an embodiment of the present disclosure, working status monitoring parameters of the hydraulic support within a preset time period are obtained; the working status monitoring parameters include telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data and hydraulic support instruction data; based on the working status monitoring parameters, the working parameters of the hydraulic support are determined; the working parameters include stability-related characteristics of the hydraulic support, instruction displacement values ​​and instruction speed values, and multiple temperature values ​​of the telescopic rod fitting points, and the stability-related characteristics of the hydraulic support include telescopic rod fitting point displacement, telescopic rod fitting point speed and telescopic rod fitting line slope; based on the working parameters, the working index of the hydraulic support is calculated; the working index includes displacement consistency, speed consistency, telescopic rod fitting line slope volatility and temperature anomaly index; based on the working index, the working status evaluation index of the hydraulic support is calculated; based on the working status evaluation index, the working status grade of the hydraulic support is determined; the working status grade is used to indicate the health of the hydraulic support. In this way, based on the extracted hydraulic support stability correlation features and the actual working state monitoring parameters, the displacement consistency, speed consistency, telescopic rod fitting line slope fluctuation and temperature anomaly index of the hydraulic support can be calculated to reflect the stability of the hydraulic support during operation; moreover, based on the displacement consistency, speed consistency, telescopic rod fitting line slope fluctuation and temperature anomaly index, the hydraulic support stability evaluation index (also known as the working state evaluation index) can be calculated to evaluate the overall stability of the hydraulic support. In this way, not only can the monitoring accuracy and efficiency of the hydraulic support working state be improved by combining visual monitoring and data analysis, but also the real-time collection and analysis of the working data of the hydraulic support can provide real-time protection for the safe production of the coal mine fully mechanized mining working face. In addition, based on the stability evaluation results (working state evaluation index and working state level), the hydraulic support instructions can be adjusted to make the hydraulic support instructions better adapt to the geological conditions of the working face and improve production efficiency. By monitoring and analyzing the stability of the hydraulic support working state, potential safety hazards can be discovered in a timely manner and measures can be taken to prevent accidents, which helps to improve the production efficiency of the coal mine fully mechanized mining working face and reduce production costs.

[0055] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the description are used to explain the principles of the present disclosure, and do not constitute an improper limitation of the present disclosure.

[0057] Figure 1 A schematic diagram of a flow chart of a method for monitoring the working status of a hydraulic support provided in an embodiment of the present disclosure;

[0058] Figure 2 This is a structural diagram of a method and device for monitoring the working status of a hydraulic support provided by an embodiment of the present disclosure;

[0059] Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of the present disclosure. DETAILED DESCRIPTION

[0060] In order to enable ordinary persons in the art to better understand the technical solutions of the present disclosure, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0061] It should be noted that the embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure.

[0062] It should be noted that in the embodiments of the present disclosure, there may be certain software, components, models, etc. that already exist in the industry. They should be considered as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of the present disclosure, but it does not mean that the applicant has or will necessarily use the solution.

[0063] As can be seen from the background technology, in the relevant technology, in the fully mechanized mining face of a coal mine, the hydraulic support is the core equipment to ensure the safe and efficient operation of the coal mining operation. The stability of the working state of the hydraulic support may directly affect the production efficiency and safety of the coal mine. In the relevant technology, the monitoring of the working state of the hydraulic support mainly relies on manual inspection or analysis based on the data of a single sensor (such as a displacement sensor, pressure sensor, etc.). This method has at least the following technical problems:

[0064] First, relying on manual inspections or monitoring methods based on a single sensor will result in low monitoring efficiency; due to the relatively single monitoring method, the data reliability will be low, thus affecting the accuracy of the monitoring results; moreover, relying solely on displacement sensors or pressure sensors cannot fully reflect the dynamic data of the hydraulic support (such as mechanical deformation, motion trajectory deviation, etc.), resulting in delayed working status monitoring results, which will lead to delayed fault warning.

[0065] Second, visual data and sensor data are not effectively integrated. For example, visual data collected by cameras is mostly used for simple monitoring, and is not combined with data from displacement sensors, temperature sensors, and other sensors for analysis, making it difficult to identify potential mechanical failures of hydraulic supports (such as bent rods and hydraulic leaks).

[0066] Third, there is a lack of quantitative indicators for evaluating the stability of hydraulic supports, making it difficult to promptly detect the health of the hydraulic support's working state. For example, in some operating scenarios, although each hydraulic support executes actions according to the received hydraulic support instructions, the smoothness and timing of the execution may deviate. This is a manifestation of poor health of the hydraulic support (that is, the hydraulic support is in poor condition). Relying on manual inspections or monitoring methods based on a single sensor cannot promptly detect these abnormal conditions.

[0067] Fourth, related technologies rely on manual inspections or monitoring methods based on a single sensor, and do not comprehensively consider multi-dimensional characteristics such as displacement consistency, motion trajectory linearity, and temperature anomalies, making it impossible to quantitatively evaluate the overall stability of the hydraulic support's working state.

[0068] Based on the above technical problems, the present invention provides a method for monitoring the working state of a hydraulic support. The method can calculate the displacement consistency, velocity consistency, slope fluctuation of the telescopic rod fitting line, and temperature anomaly index of the hydraulic support based on the extracted stability-related features of the hydraulic support and the actual working state monitoring parameters, thereby reflecting the stability of the hydraulic support during operation. The method can also calculate the hydraulic support stability evaluation index based on the displacement consistency, velocity consistency, slope fluctuation of the telescopic rod fitting line, and temperature anomaly index to evaluate the overall stability of the hydraulic support. In this way, the method of combining visual monitoring and data analysis can improve the monitoring accuracy and efficiency of the working state of the hydraulic support. By collecting and analyzing the working data of the hydraulic support in real time, it can provide real-time protection for the safe production of the fully-mechanized coal mining working face. Based on the stability evaluation results (working state evaluation index and working state level), the instructions of the hydraulic support can be adjusted to better adapt to the geological conditions of the working face and improve production efficiency. By monitoring and analyzing the stability of the hydraulic support working state, potential safety hazards can be discovered in a timely manner and measures can be taken to prevent accidents. Moreover, the method can ensure the stable operation of the hydraulic support, which helps to improve the production efficiency of the fully-mechanized coal mining working face and reduce production costs.

[0069] The technical solutions provided by various embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0070] Figure 1 This is a flow chart of a method for monitoring the working status of a hydraulic support provided in an embodiment of the present disclosure. Figure 1 As shown, the method for monitoring the working status of the hydraulic support may include the following steps:

[0071] S101, obtaining working status monitoring parameters of the hydraulic support within a preset time period.

[0072] Among them, the working status monitoring parameters include telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data and hydraulic support instruction data.

[0073] In an embodiment of the present disclosure, when monitoring the working status of a hydraulic support, the working status monitoring parameters of the hydraulic support within a set time period can be first obtained. The set time period can be, for example, a preset time period. Exemplarily, obtaining the working status monitoring parameters of the hydraulic support within the preset time period can include obtaining telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data, and hydraulic support command data of the hydraulic support within the preset time period. As an example, a monitoring device can monitor the visual image (telescopic rod image) of the hydraulic support's telescopic rod, telescopic rod end displacement data, hydraulic cylinder temperature data, and hydraulic support command data in real time. These working status monitoring parameters can reflect the working status information of the hydraulic support during operation. Subsequently, the working status monitoring parameters of multiple hydraulic supports are collected based on a time sequence. The working status monitoring parameters can include telescopic rod visual image data (telescopic rod image data), telescopic rod displacement data, hydraulic cylinder temperature data, and hydraulic support command data. Subsequently, the data packets of the working status monitoring parameters obtained within the preset time period can be parsed to obtain the telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data, and hydraulic support command data of the multiple hydraulic supports within the preset time period, providing a data foundation for subsequent data analysis.

[0074] S102: Determine the working parameters of the hydraulic support based on the working status monitoring parameters.

[0075] The operating parameters include the hydraulic support stability-related characteristics, command displacement values, command speed values, and multiple temperature values ​​of the telescopic rod fitting point. The hydraulic support stability-related characteristics include the telescopic rod fitting point displacement, telescopic rod fitting point speed, and the telescopic rod fitting line slope. It is understood that the actual displacement value and actual speed value of the telescopic rod may also be included.

[0076] In an embodiment of the present disclosure, after obtaining the working state monitoring parameters of the hydraulic support within a preset time period, the working parameters of the hydraulic support can be analyzed based on these working state monitoring parameters. Exemplarily, determining the working parameters of the hydraulic support can include the stability-related characteristics of the hydraulic support, the command displacement value and the command speed value, and multiple temperature values ​​of the telescopic rod fitting point. As an example, the stability-related characteristics of the hydraulic support can also include the displacement of the telescopic rod fitting point, the speed of the telescopic rod fitting point, and the slope of the telescopic rod fitting line. That is, based on the working state monitoring parameters, the displacement of the telescopic rod fitting point, the speed of the telescopic rod fitting point, and the slope of the telescopic rod fitting line can be calculated, as well as the stability-related characteristics of the hydraulic support, the command displacement value and the command speed value, and the multiple temperature values ​​of the telescopic rod fitting point can be calculated.

[0077] S103, calculating the working index of the hydraulic support according to the working parameters.

[0078] Among them, the working index includes displacement consistency, velocity consistency, slope fluctuation of the telescopic rod fitting line and temperature anomaly index.

[0079] In an embodiment of the present disclosure, a working index of the hydraulic support can be calculated based on the working parameters of the hydraulic support, and the working index can be used to reflect the stability of the hydraulic support during operation. For example, the displacement consistency, speed consistency, telescopic rod fitting line slope fluctuation and temperature anomaly index of the hydraulic support can be calculated based on the working parameters of the hydraulic support. Among them, displacement consistency can be the consistency between the hydraulic support instruction data and the actual displacement data of the telescopic rod, speed consistency can be the consistency between the hydraulic support instruction data and the actual speed data of the telescopic rod, the telescopic rod fitting line slope fluctuation can be used to reflect the various working states and performance characteristics of the hydraulic support, and the temperature anomaly index can be used to monitor and evaluate the working state of the hydraulic system. That is, the working indices such as displacement consistency, speed consistency, telescopic rod fitting line slope fluctuation and temperature anomaly index can all be used to index the stability of the working state of the hydraulic support.

[0080] S104: Calculate the working status evaluation index of the hydraulic support based on the working index.

[0081] In embodiments of the present disclosure, after calculating the hydraulic support's operating index, a hydraulic support operating status evaluation index can be calculated. The operating status evaluation index can be used to assess the hydraulic support's operating stability and reflect the hydraulic support's health. For example, the hydraulic support's operating status evaluation index can be calculated based on the calculated displacement consistency, velocity consistency, slope volatility of the telescopic rod fitting line, and temperature anomaly index.

[0082] S105: Determine the working status level of the hydraulic support according to the working status evaluation index.

[0083] The working status level can be used to indicate the health of the hydraulic support.

[0084] In an embodiment of the present disclosure, after calculating the working condition evaluation index of the hydraulic support, the working condition grade of the hydraulic support can be analyzed based on the working condition evaluation index. For example, different numerical ranges of the working condition evaluation index can be set for different grades, and the working condition grade of the hydraulic support can be determined based on the numerical range to which the working condition evaluation index belongs.

[0085] In an embodiment of the present disclosure, working status monitoring parameters of the hydraulic support within a preset time period are obtained; the working status monitoring parameters include telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data and hydraulic support instruction data; based on the working status monitoring parameters, the working parameters of the hydraulic support are determined; the working parameters include stability-related characteristics of the hydraulic support, instruction displacement values ​​and instruction speed values, and multiple temperature values ​​of the telescopic rod fitting points, and the stability-related characteristics of the hydraulic support include telescopic rod fitting point displacement, telescopic rod fitting point speed and telescopic rod fitting line slope; based on the working parameters, the working index of the hydraulic support is calculated; the working index includes displacement consistency, speed consistency, telescopic rod fitting line slope volatility and temperature anomaly index; based on the working index, the working status evaluation index of the hydraulic support is calculated; based on the working status evaluation index, the working status grade of the hydraulic support is determined; the working status grade is used to indicate the health of the hydraulic support.

[0086] In this way, based on the extracted hydraulic support stability correlation features and the actual working state monitoring parameters, the displacement consistency, speed consistency, telescopic rod fitting line slope fluctuation and temperature anomaly index of the hydraulic support can be calculated to reflect the stability of the hydraulic support during operation; moreover, based on the displacement consistency, speed consistency, telescopic rod fitting line slope fluctuation and temperature anomaly index, the hydraulic support stability evaluation index (also known as the working state evaluation index) can be calculated to evaluate the overall stability of the hydraulic support. In this way, not only can the monitoring accuracy and efficiency of the hydraulic support working state be improved by combining visual monitoring and data analysis, but also the real-time collection and analysis of the working data of the hydraulic support can provide real-time protection for the safe production of the coal mine fully mechanized mining working face. In addition, based on the stability evaluation results (working state evaluation index and working state level), the hydraulic support instructions can be adjusted to make the hydraulic support instructions better adapt to the geological conditions of the working face and improve production efficiency. By monitoring and analyzing the stability of the hydraulic support working state, potential safety hazards can be discovered in a timely manner and measures can be taken to prevent accidents, which helps to improve the production efficiency of the coal mine fully mechanized mining working face and reduce production costs.

[0087] In some possible implementations, determining the operating parameters of the hydraulic support based on the operating status monitoring parameters includes:

[0088] The displacement of the telescopic rod fitting point, the velocity of the telescopic rod fitting point and the slope of the telescopic rod fitting line of the hydraulic support are extracted based on the telescopic rod image data through image processing algorithm;

[0089] Analyze the hydraulic cylinder temperature data to obtain multiple temperature values ​​of the telescopic rod fitting points;

[0090] Analyze the hydraulic support command data to obtain the command displacement value and command speed value.

[0091] In embodiments of the present disclosure, telescopic rod image data can be processed using an image processing algorithm to extract the displacement of the hydraulic support's telescopic rod fitting points, the velocity of the telescopic rod fitting points, and the slope of the telescopic rod fitting line. For example, the image processing algorithm can be used to process the contour features in the telescopic rod image data (i.e., the visual image of the telescopic rod end) to obtain the telescopic rod fitting points, which in turn form a telescopic rod fitting line. The fitting line can then be used to extract stability-related features of the hydraulic support, such as the displacement of the telescopic rod fitting points, the velocity of the telescopic rod fitting points, and the slope of the telescopic rod fitting line. As an example, a specific implementation of the image processing algorithm can include converting a color image into a grayscale image to reduce computational complexity, then applying a filter (e.g., a Gaussian filter or a median filter) to remove noise from the image. Next, edge enhancement techniques (e.g., the Sobel operator or Canny edge detection) are used to highlight edge information in the image, and then edges are found using the Canny algorithm or other edge detection algorithms. Contours are extracted from the edge image using the findContours function (available in the OpenCV library). Contours representing the telescopic rod are selected based on features such as their length and area. Use the least square method or other fitting algorithms (such as Hough transform, linear regression) to perform straight line or curve fitting on the screened contour to obtain the fitting points of the telescopic rod.

[0092] The hydraulic cylinder temperature data can be parsed to obtain multiple temperature values ​​of the telescopic rod fitting point. For example, the hydraulic cylinder temperature data within a time period can be parsed to obtain multiple temperature values ​​of the telescopic rod fitting point. As an example, several time points can be selected as needed. They can be specific time points in the data, or time points selected according to actual needs. For example, data points at time points such as every 5 minutes and every 6 minutes can be selected. For each time point, the corresponding temperature value can be read from the data table. If the timestamp of the selected time point is not in the data table, the temperature value can be estimated using an interpolation method, such as linear interpolation or polynomial interpolation. The hydraulic support instruction data can be parsed to obtain the instruction displacement value and instruction speed value. For example, the hydraulic support instruction data usually includes specified displacement values ​​and speed values. By parsing the hydraulic instruction data, the required instruction displacement value and instruction speed value can be obtained.

[0093] It is understandable that the telescopic rod displacement data can also be analyzed to obtain the actual displacement value and actual speed value of the telescopic rod.

[0094] In some possible implementations, determining the working index of the hydraulic support based on the working parameters of the hydraulic support includes:

[0095] Calculate the displacement consistency based on the displacement of the fitting point of the telescopic rod of the hydraulic support and the command displacement value;

[0096] Calculate the speed consistency based on the telescopic rod fitting point speed and the command speed value;

[0097] Based on the slope of the telescopic rod fitting line, the volatility of the slope of the telescopic rod fitting line is calculated;

[0098] The temperature anomaly index is calculated based on multiple temperature values ​​at the fitting points of the telescopic rod.

[0099] In the embodiment of the present disclosure, the displacement consistency can be calculated based on the displacement of the telescopic rod fitting point and the command displacement value of the hydraulic support. For example, the difference between the displacement of the telescopic rod fitting point and the command displacement value at each time point can be calculated, and then the displacement consistency E can be calculated based on these differences. x , its specific calculation formula can be found in formula (1).

[0100]

[0101] Among them, x i is the displacement of the telescopic rod fitting point at the i-th time point, x cmd,i is the command displacement value at the i-th time point, and N is the number of data points in the preset time period.

[0102] The speed consistency can be calculated based on the speed of the telescopic rod fitting point and the command speed value. For example, the difference between the speed of the telescopic rod fitting point and the command speed value at each time point can be calculated, and then the speed consistency E can be calculated based on these differences. v , its specific calculation formula can be found in formula (2).

[0103]

[0104] Among them, v i is the velocity of the telescopic rod fitting point at the i-th time point, v cmd,i is the command speed value at the i-th time point, and N is the number of data points in the preset time period.

[0105] The volatility of the slope of the telescopic rod fitting line can also be calculated based on the slope of the telescopic rod fitting line. For example, the mean of the slope of the telescopic rod fitting line at all time points can be calculated, and then the difference between the slope of the telescopic rod fitting line at each time point and the mean of the slope of the telescopic rod fitting line at all time points can be calculated based on these differences. k , its specific calculation formula can be found in formula (3).

[0106]

[0107] Among them, k i is the slope of the telescopic rod fitting line at the i-th time point, μ k is the mean slope of the telescopic rod fitting line, and N is the number of data points in the preset time period.

[0108] Furthermore, the temperature anomaly index can be calculated based on the multiple temperature values ​​of the telescopic rod fitting point. For example, the maximum value of the multiple temperature values ​​of the telescopic rod fitting point within a preset time period can be taken as the temperature anomaly index T max The calculation formula can be seen from formula (4).

[0109] T max =max(T1,T2,…,T N ) (4)

[0110] Among them, T i represents the temperature value of the telescopic rod fitting point at the i-th time point, and N is the number of data points in the preset time period.

[0111] In some possible implementations, calculating the working status evaluation index of the hydraulic support based on the working index of the hydraulic support includes:

[0112] The working condition evaluation index of the hydraulic support is calculated based on displacement consistency, displacement consistency error, displacement error threshold, speed consistency, speed consistency error, speed error threshold, telescopic rod fitting line slope fluctuation, telescopic rod fitting line slope fluctuation threshold, temperature anomaly index, and temperature error threshold.

[0113] In the embodiment of the present disclosure, when calculating the working state evaluation index of the hydraulic support based on the working index of the hydraulic support, the displacement consistency error, the displacement error threshold, the speed consistency error, the speed error threshold, the telescopic rod fitting line slope fluctuation threshold, and the temperature error threshold can be obtained. The specific values ​​of these parameters can be pre-set according to actual conditions. Then, based on the displacement consistency, the displacement consistency error, the displacement error threshold, the speed consistency, the speed consistency error, the speed error threshold, the telescopic rod fitting line slope fluctuation, the telescopic rod fitting line slope fluctuation threshold, the temperature anomaly index, and the temperature error threshold, the working state evaluation index S of the hydraulic support can be calculated. The specific calculation method can be found in formula (5).

[0114]

[0115] Among them, E x represents the displacement consistency error, E v represents the speed consistency error, σ k is the slope volatility of the telescopic rod fitting line, T max Not the temperature anomaly index, θ x represents the displacement error threshold, θ v represents the speed error threshold, θ k is the slope volatility threshold of the telescopic rod fitting line, θ Tis the temperature threshold, w1, w2, w3, and w4 represent weight coefficients respectively, and w1+w2+w3+w4=1.

[0116] In some possible implementations, determining the working status level of the hydraulic support according to the working status evaluation index includes:

[0117] When the working state evaluation index is less than or equal to the first threshold, determining the working state level of the hydraulic support as a healthy level;

[0118] When the working state evaluation index is greater than the first threshold value and less than or equal to the second threshold value, determining that the working state level of the hydraulic support is a sub-health level;

[0119] When the working state evaluation index is greater than the second threshold, the working state level of the hydraulic support is determined to be an unhealthy level.

[0120] In embodiments of the present disclosure, when determining the working status level of a hydraulic support, that is, determining the health status of the hydraulic support, the specific value of the working status evaluation index can be compared with set thresholds (e.g., a first threshold, a second threshold, and a third threshold) to determine the range within which the working status evaluation index belongs. The working status level of the hydraulic support is then determined based on the range within which the working status evaluation index belongs. It is understood that different ranges correspond to different working status levels. For example, if the working status evaluation index is less than or equal to the first threshold, the working status level of the hydraulic support can be determined to be healthy; if the working status evaluation index is greater than the first threshold and less than or equal to the second threshold, the working status level of the hydraulic support can be determined to be sub-healthy; and if the working status evaluation index is greater than the second threshold, the working status level of the hydraulic support can be determined to be unhealthy. As a specific example, the first and second thresholds can be 1 and 2, respectively, or can be set to other values ​​based on actual needs. Thus, by introducing a hydraulic support stability threshold interval and health assessment, and setting a specific stability threshold interval, a quantitative assessment standard for the health of the hydraulic support can be provided, making the assessment results more objective and accurate. Based on the health assessment results of the hydraulic support, maintenance plans and repair strategies can be formulated more specifically to improve maintenance efficiency and reduce maintenance costs. It can also greatly improve the safety production level of the coal mine fully mechanized mining working face, reduce operating costs and improve economic benefits.

[0121] Based on the same technical concept, the embodiment of the present disclosure also provides a working state monitoring device for a hydraulic support, which is used to execute the working state monitoring method for a hydraulic support provided in the above method embodiment. Figure 2 As shown, the working state monitoring device of the hydraulic support includes a camera device 2, a displacement sensor 3, a temperature sensor 4, and a hydraulic support state analysis module 5; wherein:

[0122] The camera device 2 is installed on the side of the hydraulic support 1 and is used to collect image data of the telescopic rod of the hydraulic support within a preset time period;

[0123] The displacement sensor 3 is installed at the end of the telescopic rod 100 of the hydraulic support 1 and is used to collect the displacement data of the telescopic rod of the hydraulic support within a preset period of time;

[0124] The temperature sensor 4 is installed on the hydraulic cylinder housing of the hydraulic support 1 and is used to collect the temperature data of the hydraulic cylinder of the hydraulic support within a preset period of time;

[0125] The hydraulic state analysis module 5 is respectively connected to the camera device 2, the displacement sensor 3 and the temperature sensor 4 for respectively acquiring telescopic rod image data, telescopic rod displacement data and hydraulic cylinder temperature data from the camera device 2, the displacement sensor 3 and the temperature sensor 4;

[0126] The hydraulic state analysis module is further used to:

[0127] Acquire hydraulic support command data of the hydraulic support within a preset time period; determine the working parameters of the hydraulic support based on the working status monitoring parameters; calculate the working index of the hydraulic support based on the working parameters; calculate the working status evaluation index of the hydraulic support based on the working index; determine the working status level of the hydraulic support based on the working status evaluation index; the working status level is used to indicate the health of the hydraulic support.

[0128] In the embodiment of the present disclosure, the camera device 2, the displacement sensor 3, and the temperature sensor 4 can all be multiple, and the camera device 2 can be, for example, a visual camera. That is, the hydraulic support working state monitoring device includes multiple visual cameras 2, multiple displacement sensors 3, multiple temperature sensors 4, and a hydraulic support state analysis module 5. The hydraulic support state analysis module 5 can include a data storage 51 and a state analysis computer 52. The data storage 51 can be respectively communicated with the multiple visual cameras 2, the multiple displacement sensors 3, and the multiple temperature sensors 4. The state analysis computer 52 can pre-store a data analysis program designed using a hydraulic support working data analysis method for a fully mechanized coal mining working face, and run the data analysis program to output a hydraulic support working state evaluation index and a working state level of the hydraulic support health.

[0129] The working state monitoring device of the hydraulic support provided in the embodiment of the present disclosure can be used to implement the working state monitoring method of the hydraulic support provided in any of the above embodiments. Its specific implementation method and technical effect are similar to those of the above method embodiments and will not be repeated here.

[0130] According to an embodiment of the present disclosure, the present disclosure also discloses an electronic device, a computer-readable storage medium, and a computer program product.

[0131] Figure 3 A schematic block diagram of an example electronic device 300 that can be used to implement embodiments of the present disclosure is shown. The electronic device 300 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0132] like Figure 3 As shown, electronic device 300 includes a computing unit 301, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 302 or a computer program loaded from a storage unit 308 into a random access memory (RAM) 303. Various programs and data required for the operation of device 300 can also be stored in RAM 303. Computing unit 301, ROM 302, and RAM 303 are connected to each other via a bus 304. An input / output (I / O) interface 305 is also connected to bus 304.

[0133] Multiple components in the electronic device 300 are connected to the I / O interface 305, including an input unit 306, such as a keyboard, a mouse, etc.; an output unit 307, such as various types of displays, speakers, etc.; a storage unit 308, such as a magnetic disk, an optical disk, etc.; and a communication unit 309, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 309 allows the electronic device 300 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0134] The computing unit 301 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 301 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 301 performs the various methods and processes described above, such as the method for monitoring the working condition of a hydraulic support. For example, in some embodiments, the method for monitoring the working condition of a hydraulic support can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 308. In some embodiments, part or all of the computer program can be loaded and / or installed on the electronic device 300 via the ROM 302 and / or the communication unit 309. When the computer program is loaded into the RAM 303 and executed by the computing unit 301, one or more steps of the method for monitoring the working condition of a hydraulic support described above can be performed. Alternatively, in other embodiments, the computing unit 301 can be configured to perform the method for monitoring the working condition of a hydraulic support by any other suitable means (e.g., via firmware).

[0135] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0136] The program code of the computer program product for implementing the method of the present disclosure can be written in any combination of one or more programming languages. Such program code can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0137] In the context of the present disclosure, a computer-readable storage medium can be a tangible medium that can contain or store a program for use by an instruction execution system, device or equipment or used in combination with an instruction execution system, device or equipment. A computer-readable storage medium can be a machine-readable signal medium or a machine-readable storage medium. A computer-readable storage medium can include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. A more specific example of a computer-readable storage medium can include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0138] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0139] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0140] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact via a communication network. This client-server relationship is established by computer programs running on the respective computers, establishing a client-server relationship. The server may be a cloud server, also known as a cloud computing server or cloud host, a host product within a cloud computing service ecosystem that addresses the management difficulties and limited scalability of traditional physical hosts and VPS services ("Virtual Private Servers" or simply "VPS"). The server may also be a server in a distributed system or a server integrated with blockchain.

[0141] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not a limitation herein.

[0142] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. A method for monitoring the working status of a hydraulic support, characterized in that: include: Obtaining working status monitoring parameters of the hydraulic support within a preset time period; The working state monitoring parameters include telescopic rod image data, telescopic rod displacement data, hydraulic cylinder temperature data and hydraulic support instruction data; Determining the operating parameters of the hydraulic support based on the operating status monitoring parameters; the operating parameters include a stability-related characteristic of the hydraulic support, a command displacement value and a command speed value, and multiple temperature values ​​of the telescopic rod fitting point; the stability-related characteristic of the hydraulic support includes a displacement of the telescopic rod fitting point, a speed of the telescopic rod fitting point, and a slope of the telescopic rod fitting line; Calculating a working index of the hydraulic support according to the working parameters; the working index includes displacement consistency, speed consistency, slope fluctuation of the telescopic rod fitting line, and temperature anomaly index; Calculating a working status evaluation index of the hydraulic support based on the working index; The working state grade of the hydraulic support is determined according to the working state evaluation index; the working state grade is used to indicate the health of the hydraulic support.

2. The method for monitoring the working status of a hydraulic support according to claim 1, characterized in that: The determining of the working parameters of the hydraulic support based on the working status monitoring parameters includes: Extracting the displacement of the telescopic rod fitting point, the velocity of the telescopic rod fitting point and the slope of the telescopic rod fitting line of the hydraulic support based on the telescopic rod image data through an image processing algorithm; Analyzing the hydraulic cylinder temperature data to obtain multiple temperature values ​​of the telescopic rod fitting points; The hydraulic support command data is parsed to obtain a command displacement value and a command speed value.

3. The method for monitoring the working status of a hydraulic support according to claim 1, characterized in that: Calculating the working index of the hydraulic support according to the working parameters includes: Calculating displacement consistency based on the displacement of the telescopic rod fitting point of the hydraulic support and the command displacement value; Calculating speed consistency based on the telescopic rod fitting point speed and the command speed value; Calculating the volatility of the slope of the telescopic rod fitting line based on the slope of the telescopic rod fitting line; A temperature anomaly index is calculated based on the multiple temperature values ​​of the telescopic rod fitting points.

4. The method for monitoring the working status of a hydraulic support according to claim 1, characterized in that: The step of calculating the working state evaluation index of the hydraulic support based on the working index includes: Based on the displacement consistency, displacement consistency error, displacement error threshold, the speed consistency, speed consistency error, speed error threshold, the telescopic rod fitting line slope fluctuation, telescopic rod fitting line slope fluctuation threshold, the temperature anomaly index, and temperature error threshold, a working condition evaluation index of the hydraulic support is calculated.

5. The method for monitoring the working status of a hydraulic support according to claim 1, characterized in that: Determining the working state level of the hydraulic support according to the working state evaluation index includes: When the working state evaluation index is less than or equal to a first threshold, determining the working state level of the hydraulic support to be a healthy level; When the working state evaluation index is greater than the first threshold value and less than or equal to the second threshold value, determining that the working state level of the hydraulic support is a sub-health level; When the working state evaluation index is greater than the second threshold, the working state level of the hydraulic support is determined to be an unhealthy level.

6. The method for monitoring the working status of a hydraulic support according to claim 1, characterized in that: The displacement consistency E is calculated based on the displacement of the telescopic rod fitting point of the hydraulic support and the command displacement value. x The way is: Among them, x i is the displacement of the telescopic rod fitting point at the i-th time point, x cmd,i is the command displacement value at the i-th time point, and N is the number of data points in the preset time period; Based on the speed of the telescopic rod fitting point and the command speed value, the speed consistency E is calculated. v The way is: Among them, v i is the velocity of the telescopic rod fitting point at the i-th time point, v cmd,i is the command speed value at the i-th time point, and N is the number of data points in the preset time period; The slope volatility of the telescopic rod fitting line is calculated based on the slope of the telescopic rod fitting line. k The way is: Among them, k i is the slope of the telescopic rod fitting line at the i-th time point, μ k is the mean slope of the telescopic rod fitting line, and N is the number of data points in the preset time period; Based on the multiple temperature values ​​of the telescopic rod fitting points, the temperature anomaly index is calculated as follows: T max =max(T1,T2,…,T N ) (4) Among them, T i represents the temperature value of the telescopic rod fitting point at the i-th time point, and N is the number of data points in the preset time period.

7. The method for monitoring the working status of a hydraulic support according to claim 4, characterized in that: The method for calculating the working state evaluation index of the hydraulic support based on the displacement consistency, displacement consistency error, displacement error threshold, speed consistency, speed consistency error, speed error threshold, the slope volatility of the telescopic rod fitting line, the slope volatility threshold of the telescopic rod fitting line, the temperature anomaly index, and the temperature error threshold is as follows: Among them, E x represents the displacement consistency error, E v represents the speed consistency error, σ k Table 2 shows the slope volatility of the telescopic rod fitting line, T max Not the temperature anomaly index, θ x represents the displacement error threshold, θ v represents the speed error threshold, θ k is the slope volatility threshold of the telescopic rod fitting line, θ T is the temperature threshold, w1, w2, w3, and w4 represent weight coefficients respectively, and w1+w2+w3+w4=1.

8. A working status monitoring device for a hydraulic support, characterized in that: It includes a camera device, a displacement sensor, a temperature sensor, and a hydraulic support state analysis module; wherein: The camera device is installed on the side of the hydraulic support and is used to collect image data of the telescopic rod of the hydraulic support within a preset time period; The displacement sensor is installed at the end of the telescopic rod of the hydraulic support and is used to collect displacement data of the telescopic rod of the hydraulic support within a preset period of time; The temperature sensor is installed on the hydraulic cylinder housing of the hydraulic support and is used to collect the temperature data of the hydraulic cylinder of the hydraulic support within a preset period of time; The hydraulic state analysis module is respectively connected to the camera device, the displacement sensor and the temperature sensor for acquiring telescopic rod image data, telescopic rod displacement data and hydraulic cylinder temperature data from the camera device, the displacement sensor and the temperature sensor respectively; The hydraulic state analysis module is further used to: Acquire hydraulic support command data of a hydraulic support within a preset time period; determine the working parameters of the hydraulic support based on working status monitoring parameters; the working status monitoring parameters include the telescopic rod image data, the telescopic rod displacement data, the hydraulic cylinder temperature data and the hydraulic support command data; calculate the working index of the hydraulic support based on the working parameters; calculate the working status evaluation index of the hydraulic support based on the working index; determine the working status level of the hydraulic support based on the working status evaluation index; the working status level is used to indicate the health of the hydraulic support.

9. An electronic device, characterized in that: include: processor; a memory for storing instructions executable by the processor; The processor is configured to execute the instructions to implement the method for monitoring the working state of the hydraulic support according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method for monitoring the working status of the hydraulic support according to any one of claims 1 to 7 is implemented.

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