A local-global decoupling pushing and straightening method for an ultra-long working face hydraulic support group

Abstract

This disclosure relates to a method for decoupling and straightening the hydraulic support group in an ultra-long working face, specifically in the field of coal mining technology. The method includes: collecting the displacement data of multiple hydraulic supports corresponding to the working face to obtain a displacement sequence; decomposing the displacement sequence into global low-frequency components and local high-frequency components; calculating a local consistency deviation index based on the local high-frequency components, and calculating a global trajectory deviation index based on the global low-frequency components and the design displacement benchmark; determining local and global correction weights based on the local consistency deviation index and the global trajectory deviation index; generating a local displacement correction amount based on the local high-frequency components, generating a global displacement correction amount, and merging the local and global displacement correction amounts into a target displacement correction amount; and controlling each hydraulic support to perform a pushing action based on the target displacement correction amount to maintain the straightness of the working face. This disclosure improves the stability and control efficiency of maintaining the straightness of ultra-long working faces.

Description

Technical Field

[0001] This disclosure relates to the field of coal mining technology, and in particular to a method for local-global decoupling and straightening of hydraulic support groups for ultra-long working faces. Background Technology

[0002] In related technologies, during the longwall mining process, hydraulic supports, scraper conveyors, and coal mining machines work in tandem. The consistency of support displacement directly affects the straightness of the scraper conveyor and the coal face forming quality. Current face straightness control methods primarily use laser, infrared, vision, inertial navigation, or stroke sensors to acquire geometric information, generating support shifting or conveyor pushing commands based on target shifting distance, inter-support compensation, or scraper conveyor position deviation. However, in ultra-long longwall faces, the number of supports is large, and the shifting path is long. Deviations from different causes often coexist, and a single peak value or straight-line fitting index cannot fully describe the complex deviation patterns. Furthermore, shifting supports one by one or in a simple sequential manner is time-consuming, adjacent support movements are prone to coupling interference, and scheduling is rarely combined with support status and coal mining machine position, resulting in low straightening efficiency, repeated corrections, and even safety hazards. Summary of the Invention

[0003] To overcome the problems existing in related technologies, this disclosure provides a method for local-global decoupling and straightening of hydraulic support groups for ultra-long working faces.

[0004] According to a first aspect of the present disclosure, a method for locally-globally decoupled pushing and straightening an ultra-long working face hydraulic support group is provided, comprising:

[0005] The displacement of multiple hydraulic supports corresponding to the working face is collected to obtain the displacement sequence of multiple hydraulic supports along the working face direction; According to the arrangement order of the multiple hydraulic supports along the working surface, the displacement sequence is decomposed into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-support inconsistency deviation according to a preset spatial scale threshold. The local consistency deviation index is calculated based on the local high-frequency components, and the global trajectory deviation index is calculated based on the difference between the global low-frequency components and the design drift reference. The local correction weight and the global correction weight are determined based on the local consistency deviation index and the global trajectory deviation index. A local shift correction amount is generated based on the local high-frequency components, a global shift correction amount is generated based on the difference between the global low-frequency components and the design shift reference, and the local shift correction amount and the global shift correction amount are fused together using the local correction weight and the global correction weight to form the target shift correction amount for each hydraulic support. The hydraulic supports are controlled to perform pushing operations based on the target pushing correction amount in order to maintain the straightness of the working surface.

[0006] According to a second aspect of the present disclosure, a local-to-global decoupling pushing and straightening device for an ultra-long working face hydraulic support group is provided, comprising: The acquisition unit is used to acquire the displacement of multiple hydraulic supports corresponding to the working face, and obtain the displacement sequence of multiple hydraulic supports along the working face direction; The decomposition unit is used to decompose the displacement sequence into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-support inconsistency deviation, according to the arrangement order of the plurality of hydraulic supports along the working surface direction. The calculation unit is used to calculate the local consistency deviation index based on the local high-frequency components and to calculate the global trajectory deviation index based on the difference between the global low-frequency components and the design drift reference. The determining unit is used to determine the local correction weight and the global correction weight based on the local consistency deviation index and the global trajectory deviation index. The fusion unit is used to generate a local shift correction amount based on the local high-frequency component, generate a global shift correction amount based on the difference between the global low-frequency component and the design shift reference, and fuse the local shift correction amount and the global shift correction amount into the target shift correction amount for each hydraulic support using the local correction weight and the global correction weight. The control unit is used to control each hydraulic support to perform pushing action according to the target pushing correction amount in order to maintain the straightness of the working surface.

[0007] According to a third aspect of the present disclosure, an electronic device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of the first aspects.

[0008] According to a fourth aspect of the present disclosure, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, implements the method as described in any one of the first aspects.

[0009] According to a fifth aspect of the present disclosure, a computer program product is provided, including a computer program that, when executed by a processor, implements the method as described in any one of the first aspects.

[0010] The technical solutions provided by the embodiments of this disclosure can include the following beneficial effects: by decomposing the displacement sequence of the hydraulic support group into global low-frequency components and local high-frequency components according to the spatial scale, calculating the global trajectory deviation index and the local consistency deviation index respectively, and dynamically allocating local correction weights and global correction weights according to their relative magnitudes, and then weighting and fusing the generated local displacement correction amount and global displacement correction amount into a target displacement correction amount, and finally controlling each hydraulic support to perform the pushing operation based on the target displacement correction amount, this disclosure accurately distinguishes between local inter-support inconsistency deviation and global trajectory skew deviation, avoiding over-correction or under-correction caused by single index correction, and at the same time, through weight adaptive fusion, the correction strategy matches the dominant type of the current deviation, thereby significantly improving the stability, repeatability and control efficiency of maintaining the straightness of the ultra-long working face.

[0011] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0012] The accompanying drawings, which are incorporated in and form a part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure.

[0013] Figure 1 This is a flowchart illustrating a local-global decoupled pushing and straightening method for an ultra-long working face hydraulic support group according to an exemplary embodiment.

[0014] Figure 2 This is a schematic diagram of the overall structure of hydraulic support group arrangement and data acquisition in an ultra-long fully mechanized mining face, according to an exemplary embodiment.

[0015] Figure 3 This is a flowchart illustrating the local-global decoupled pushing control of an ultra-long working face hydraulic support group according to an exemplary embodiment.

[0016] Figure 4 This is a flowchart illustrating the preprocessing and data quality processing of a shift displacement sequence according to an exemplary embodiment.

[0017] Figure 5 This is a schematic diagram illustrating spatial scale decomposition according to an exemplary embodiment.

[0018] Figure 6 This is a schematic diagram illustrating local consistency calculation according to an exemplary embodiment.

[0019] Figure 7 This is a schematic diagram illustrating the fusion of dynamic weight allocation and correction amount according to an exemplary embodiment.

[0020] Figure 8This is a schematic diagram illustrating global consistency computation according to an exemplary embodiment.

[0021] Figure 9 This is a schematic diagram of the support space grouping according to an exemplary embodiment.

[0022] Figure 10 This is a batch shift time Gantt chart illustrated according to an exemplary embodiment.

[0023] Figure 11 This is a schematic diagram illustrating support state constraints and coal mining machine space interlocking according to an exemplary embodiment.

[0024] Figure 12 This is a block diagram illustrating a locally-globally decoupled pushing and straightening device for an ultra-long working face hydraulic support group, according to an exemplary embodiment.

[0025] Figure 13 This is a block diagram illustrating an apparatus for a local-global decoupled pushing and straightening method for a hydraulic support group with an ultra-long working face, according to an exemplary embodiment. Detailed Implementation

[0026] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numbers in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this disclosure.

[0027] The terminology used in this disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of this disclosure. The singular forms "a" and "the" as used in this disclosure are also intended to include the plural forms unless the context clearly indicates otherwise.

[0028] It should be understood that although the terms first, second, third, etc., may be used to describe various information in embodiments of this disclosure, such information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, first information may also be referred to as second information without departing from the scope of embodiments of this disclosure, and similarly, second information may also be referred to as first information. Depending on the context, the words “if” and “suppose” as used herein may be interpreted as “when”, “when”, or “in response to a determination”.

[0029] Furthermore, various forms of processes shown in the embodiments of this disclosure can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and no limitation is imposed herein.

[0030] It should be noted that the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein all comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0031] Figure 1 This is a flowchart illustrating a local-global decoupling and straightening method for a hydraulic support group with an ultra-long working face, according to an exemplary embodiment. Figure 1 As shown, it should be noted that the local-global decoupling pushing and straightening method for ultra-long working face hydraulic support groups in this disclosure embodiment is applied to the local-global decoupling pushing and straightening device for ultra-long working face hydraulic support groups. For example... Figure 1 As shown, the method may include the following steps: Step 101: Collect the displacement of multiple hydraulic supports corresponding to the working face to obtain the displacement sequence of multiple hydraulic supports along the working face direction.

[0032] As an example, such as Figure 2 As shown, the fully mechanized mining face has a set length along the working face direction. Inside, a group of hydraulic supports, consisting of multiple single hydraulic supports arranged sequentially, is arranged, with the center-to-center distance between adjacent supports being the support center-to-center distance. One side of the working face is the coal wall, and the top is the roof. The coal mining machine travels back and forth on a scraper conveyor to mine coal. The scraper conveyor and the pushing actuator of the hydraulic support group (such as the hydraulic support group numbered #132-#N) cooperate to achieve the pushing action. The data acquisition system includes pushing stroke detection devices installed on each support, adjacent posture detection devices for detecting the relative posture of adjacent supports, and scraper conveyor position detection devices for detecting the planar position of the scraper conveyor. The above detection data is sent to the local-global decoupled control system, which performs spatial scale decomposition of the pushing displacement sequence, dual-index calculation, dynamic weight allocation, and correction fusion, and finally generates batch pushing commands to control the hydraulic support group to perform pushing actions to maintain the straightness of the working face. The figure schematically shows the continuous arrangement of hydraulic supports along the working face direction, reflecting the quantity and spatial continuous arrangement characteristics of hydraulic supports in an ultra-long working face.

[0033] In some embodiments of this disclosure, step 101 may specifically include the following sub-steps: Step a1: Preprocess the collected displacement data.

[0034] Specifically, the original displacement data of each hydraulic support is obtained by a displacement detection device. The displacement detection device may include at least one of a linear variable differential transformer displacement sensor, a magnetostrictive displacement sensor, an encoder, a wire displacement sensor, or a digital cylinder built-in displacement feedback unit.

[0035] In one embodiment, data can be collected. N Hydraulic supports at sampling time k displacement δ(i,k) Furthermore, it can collect the relative attitude of adjacent supports. θ(i,k) Planar position of scraper conveyor p AFC (i,k) Location of coal mining machine x m (k) and the status of stent support S L (i,k) The collected data undergoes sampling synchronization, anomaly removal, missing data interpolation, timestamp alignment, and baseline alignment to obtain the displacement sequence required for spatial scale decoupling. d(i) .

[0036] Optionally, the relative orientation θ(i,k) of adjacent supports and the planar position sequence of the scraper conveyor can also be collected. p AFC (i,k) The relative attitudes of adjacent supports can be used to assist in judging changes in support attitude or verifying displacement data. The planar position sequence of the scraper conveyor can be used to provide a spatial reference for the working face or to verify the global trajectory deviation of the displacement sequence. The scraper conveyor position detection device may include a mining inertial measurement unit, an odometer, an ultra-wideband positioning unit, a laser ranging unit, a visual target unit, an optical fiber sensing unit, or a combination thereof.

[0037] Median filtering or three-standard-deviation discrimination is applied to the displacement data of different hydraulic supports at the same sampling time to remove outliers. Velocity limiting discrimination is applied to the displacement data of the same hydraulic support over continuous time to remove outliers. For missing data points after removal, alternative values ​​are generated using spatial interpolation of adjacent supports, temporal interpolation of the same support, or a weighted average of both, and the data quality identifier for each data point is recorded. Simultaneously, sampling time synchronization and benchmark alignment are performed on the displacement data of multiple hydraulic supports to obtain a spatial displacement sequence for spatial scale decomposition.

[0038] It should be noted that the above preprocessing steps can eliminate the interference of sensor noise, communication delay and abnormal data on subsequent decomposition, thereby improving the reliability of spatial scale decomposition.

[0039] Step a2: Convert the numbers of multiple hydraulic supports into spatial coordinates along the working surface direction.

[0040] Specifically, spatial coordinates can be determined by the center distance of the supports, the measurement reference of the working surface, or the position sequence of the scraper conveyor. When the actual center distances of the supports along the working surface are not completely equal, the displacement sequence is resampled at equal spatial intervals with spatial coordinates as the independent variable to obtain an equal spatial interval sequence.

[0041] It is understandable that due to downhole installation errors or geological conditions, the center distance between adjacent supports may not be completely equal. Directly using the support number as an equally spaced coordinate for spatial scale decomposition will introduce sampling non-uniformity error. Resampling can eliminate this error and ensure the accuracy of the decomposition results.

[0042] In one embodiment, such as Figure 4 As shown, the displacement sequence of each hydraulic support was collected. δ(i,k) Relative posture of adjacent supports θ(i,k) and the planar position sequence of the scraper conveyor p AFC (i,k) Next, timestamp alignment of the sampling time is performed first. Then, median filtering or three-standard-deviation discrimination is applied to the displacement at the same sampling time to remove outliers. Velocity limiting discrimination is also applied to the displacement of the same support over continuous time. For missing data points after removal, spatial interpolation of adjacent supports, temporal interpolation of the same support, or a weighted interpolation of both is used to fill in the missing data points. Then, benchmark alignment is performed to obtain the preprocessed displacement sequence. At the same time, outlier data is recorded and data quality labels are generated. Q(i) ; then judge Q(i) If the confidence level is below the preset confidence threshold, a downgrade control is triggered, switching the automatic shift correction mode to the limit correction mode or the manual confirmation mode; otherwise, the normal batch shift correction process continues.

[0043] Step 102: According to the arrangement order of multiple hydraulic supports along the working surface, the displacement sequence is decomposed into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-support inconsistency deviation according to a preset spatial scale threshold.

[0044] In this embodiment, the global low-frequency component reflects slow trajectory deviations across multiple supports (such as overall tilting or slow bending of the working surface), while the local high-frequency component reflects inconsistencies in displacement between adjacent or a small number of supports (such as local protrusions or depressions in a single or a few supports). Through spatial scale decomposition, two types of deviations with different physical causes and correction strategies can be effectively separated from the same set of displacement data. This lays the data foundation for subsequently quantifying local inconsistencies and global skew separately, and implementing differentiated corrections for the dominant deviation type, avoiding over-correction or under-correction problems caused by treating the two types of deviations together.

[0045] In some embodiments of this disclosure, step 102 may specifically include the following sub-steps: Step b1: Using any one of the following methods—discrete wavelet decomposition, zero-phase low-pass filtering, sliding window local regression, or spline smoothing—determine the decomposition parameters based on the spatial scale threshold, and decompose the shifted displacement sequence into global low-frequency components and local high-frequency components according to the decomposition parameters.

[0046] As an example, when using discrete wavelet decomposition, the db4 wavelet can be used for two to five levels of discrete wavelet decomposition to reconstruct the global low-frequency components with approximation coefficients and the local high-frequency components with detail coefficients.

[0047] As another example, a fourth-order (second to sixth order) zero-phase Butterworth low-pass filter is used to perform bidirectional filtering on the shift sequence to obtain the global low-frequency component, and the filter residual is used as the local high-frequency component.

[0048] As another example, a sliding window local regression or spline smoothing is used to obtain the global low-frequency component, and the difference between the original sequence and the global low-frequency component is used as the local high-frequency component.

[0049] The spatial scale threshold is set to be no less than the spatial length corresponding to the preset minimum number of supports and no greater than the spatial length corresponding to the preset maximum number of supports, for example, no less than the center distance of 6 supports and no greater than the center distance of 24 supports.

[0050] It should be noted that by decomposing the displacement sequence according to spatial scale, it is possible to separate the local inter-support inconsistency deviations with a shorter spatial scale (manifested as large differences between adjacent supports with a small range) from the global trajectory skew deviations with a longer spatial scale (manifested as gradual bending across a large number of supports) from the same set of data, providing a data basis for subsequent quantification and correction.

[0051] In one embodiment, such as Figure 5 As shown, the original displacement sequence d(i) As input, based on a preset spatial scale threshold λc The process employs wavelet decomposition or low-pass filtering; specifically, the global low-frequency components are obtained through low-pass filtering or wavelet approximation coefficient reconstruction. δG ( i Meanwhile, local high-frequency components are obtained through residual calculation or wavelet detail coefficient reconstruction. δL ( i ); Verification after decomposition δG ( i )+ δL ( i ) should be equal to the original d(i)This ensures the completeness of the decomposition; among them, the global low-frequency component represents the global trajectory deviation across multiple supports, and the local high-frequency component represents the inconsistency deviation between adjacent or local supports, providing a basis for subsequent dual-index calculation and weight fusion.

[0052] Step 103: Calculate the local consistency deviation index based on the local high-frequency components, and calculate the global trajectory deviation index based on the difference between the global low-frequency components and the design drift reference.

[0053] In this embodiment, a local consistency deviation index is calculated based on local high-frequency components. This index quantitatively characterizes the severity of local inter-support displacement inconsistencies by statistically analyzing the maximum difference and root mean square value of high-frequency components between adjacent supports. Simultaneously, a global trajectory deviation index is calculated based on the difference between global low-frequency components and the design displacement benchmark. This index quantitatively characterizes the overall translational deviation and bending deformation degree across the entire working surface by evaluating the overall average offset and the maximum residual after removing the mean. By constructing these two deviation indices, which respectively point to local abrupt changes and global gradual changes, quantifiable and comparable inputs can be provided for subsequent dynamic weight allocation, thereby avoiding coupling and misjudgment that can occur when a single index simultaneously describes two types of deviations.

[0054] In some embodiments of this disclosure, step 103 may specifically include the following sub-steps: Step c1: Calculate the local consistency deviation index using the following formula. L CDI : L CDI =max|δ L (i)-d L (i-1)|+α L ·RMS[δ L (i)-d L (i-1)] in, d L (i) Let be the local high-frequency component of the i-th hydraulic support. α L These are preset local weighting coefficients (the value can range from 0.2 to 1.0). RMS This is the root mean square operation.

[0055] It should be noted that the formula uses a weighted sum of the maximum adjacent difference and the root mean square value, which can capture the maximum amplitude of local mutations and avoid the index from fluctuating drastically due to a single noise point, thus stably measuring the intensity of local inter-frame inconsistency.

[0056] Step c2: Calculate the global trajectory deviation index using the following formula. G TDI : G TDI =|mean(δ G (i)-d ref (i))|+α G ·max|δ G (i)-d ref (i)-mean(δ G (i)-d ref (i))| in, d G (i) Let be the global low-frequency component of the i-th hydraulic support. d ref (i) To design the reference point, α G The preset global weighting coefficients (the value can range from 0.2 to 1.0). mean It is the arithmetic mean.

[0057] It should be noted that the first term of the formula reflects the overall average offset (i.e., global translational deviation), and the second term reflects the maximum residual of each support relative to the design reference after removing the average offset (i.e., global bending or tilting). The combination of the two can comprehensively measure the trajectory deviation intensity across the entire working surface.

[0058] In one embodiment, such as Figure 6 and Figure 7 As shown, the local consistency deviation calculation is based on local high-frequency components. d L ( i The adjacent difference Δ d L ( i )= d L ( i ) d L ( i 1) Extract the maximum adjacent difference Δ from it. d Lmax And combined with the root mean square term RMS (d L (i)) The local consistency deviation index is calculated according to the preset weighting coefficients.L CDI It is used to quantify the intensity of local inter-frame inconsistencies; global trajectory deviation calculation is based on global low-frequency components. d G ( i ) and design transition benchmark d ref ( i The difference between the two values ​​is used to calculate the overall average offset. e ˉ G and the maximum residual after removing the mean. G max Then calculate the global trajectory deviation index. G TDI These two indicators are used to quantify the overall translational deviation and bending deformation of the entire working surface; they respectively characterize the dominance of local abrupt changes and global gradual changes, providing input for subsequent dynamic weight allocation.

[0059] Step 104: Determine the local correction weight and the global correction weight based on the local consistency deviation index and the global trajectory deviation index.

[0060] In this embodiment of the disclosure, the ratio of the local consistency deviation index to a preset local allowable deviation threshold is used as the local normalized deviation, and the ratio of the global trajectory deviation index to a preset global allowable deviation threshold is used as the global normalized deviation, thereby mapping two types of deviation indices with different physical meanings to the same comparable scale.

[0061] Based on this, local and global correction weights are dynamically determined according to the relative magnitudes of local and global normalization deviations: the larger the proportion of local normalization deviation, the higher the local correction weight, and vice versa. A limiting operation is introduced during weight calculation to restrict the local correction weight to between a preset minimum and maximum weight, avoiding extreme values ​​of 0 or 1 when a certain deviation is extremely dominant, thus ensuring a smooth transition and stability of the correction strategy. Through this adaptive weight allocation, subsequent correction amounts can be automatically biased towards the dominant type of the current deviation, achieving decoupled correction of local inter-frame mutations and global trajectory skew.

[0062] In some embodiments of this disclosure, step 104 may specifically include the following sub-steps: Step d1, the local consistency deviation index L CDI Divide by the preset local allowable deviation threshold T L The local normalized bias is obtained. r L = L CDI / T L; global trajectory deviation index G TDI Divide by the preset global allowable deviation threshold T G The global normalized bias is obtained. r G = G TDI / T G .

[0063] The local correction weights are calculated using the following formula. w L and global correction weights w G : w L =clip(r L / (r L +r G +e), w min , w max ) w G =1-w L Where, r L This is a local normalization bias. r G This is the global normalization bias. e To prevent positive numbers with a denominator of zero; clip ( ,W min ,W max ) This indicates that the value within the parentheses is restricted to a certain range. W min and W max Limiting calculations between; W min This is the preset lower limit of the local correction weight (which can be between 0.2 and 0.4). W max The preset upper limit for local correction weights (which can be between 0.6 and 0.8) is set, and 0<W min < W max <1 .

[0064] It should be noted that by comparing the relative magnitudes of the two types of biases through normalization, the local correction weight automatically increases when the local bias dominates, and the global correction weight automatically increases when the global bias dominates, thereby avoiding over-correction or under-correction caused by a single indicator and achieving adaptive switching of the correction strategy.

[0065] Step 105: Generate a local displacement correction amount based on the local high-frequency components, generate a global displacement correction amount based on the difference between the global low-frequency components and the design displacement reference, and use the local correction weight and the global correction weight to merge the local displacement correction amount and the global displacement correction amount into the target displacement correction amount for each hydraulic support.

[0066] In this embodiment, a local displacement correction amount is generated based on the local high-frequency component. This correction amount is proportional to the local high-frequency component and opposite in direction, and is used to suppress displacement inconsistencies between adjacent supports. Simultaneously, a global displacement correction amount is generated based on the difference between the global low-frequency component and the design displacement reference. This correction amount is proportional to the global deviation and opposite in direction, and is used to eliminate overall translational and bending offsets across the entire working surface. Based on this, the two correction amounts are weighted and fused using local and global correction weights to obtain the target displacement correction amount for each hydraulic support.

[0067] During the fusion process, a higher local correction weight leads to a greater contribution of the local shift correction to the target correction, and vice versa, the global shift correction dominates. This allows the correction strategy to adaptively adjust based on the dominant type of deviation. Furthermore, smoothing constraints can be set on the target shift correction of adjacent supports to prevent sudden changes in commands between adjacent supports that could cause wavy bending in the scraper conveyor. This effectively corrects global skew while suppressing local abrupt changes, avoiding mutual interference or over-correction between the two types of corrections.

[0068] In some embodiments of this disclosure, step 105 may specifically include the following sub-steps: Step e1: Calculate the local shift correction using the following formula: Thu L (i)=sat[-K L ·d L (i), U L ] in, Thu L (i) For the first i The local displacement correction amount of the hydraulic support. d L (i) For the first i Local high-frequency components of hydraulic supports.K L This is the preset local correction gain. U L This is the preset local correction limit (i.e., the maximum permissible absolute value of a single local correction), which is the maximum permissible absolute value of a single local correction. sat[ ,U L ] This indicates that the value within the parentheses is restricted to a certain range. [ U L ,U L ] Limiting calculations within the range.

[0069] It should be noted that this correction amount is proportional to and opposite in direction to the local high-frequency components. It is used to suppress local inconsistencies between frames and to limit the amplitude calculation to prevent a single correction from being too strong and causing new local deviations.

[0070] Step e2, calculate the global shift correction using the following formula: Thu G (i)=sat[-K G ·(d G (i)-d ref (i)), U G ] in, Thu G (i) For the first i The global displacement correction amount of the hydraulic support. d G (i) For the first i The global low-frequency components of the hydraulic support frame d ref (i) For the first i Design reference for hydraulic support movement K G This is the preset global correction gain. U G The preset global correction limit value. sat[ ,U G ] For amplitude limiting calculation, the value within the parentheses is limited to... [ U G,U G ] Within the range.

[0071] It should be noted that this correction is used to eliminate global trajectory skew, and amplitude limiting is also used to ensure stability.

[0072] Step e3: Calculate the target displacement correction for each hydraulic support using the following formula: Δu(i) = w L · Thursday L (i) + w G · Thursday G (i) in, Δu(i) For the first i The target displacement correction amount for the hydraulic support. w L For local weight adjustment, w G To adjust the weights globally, |Δu(i)-Δu(i-1)|≤D max , D max This is the preset upper limit for the smoothing difference.

[0073] It should be noted that by combining local and global corrections through weighted fusion, and by using adjacent smoothing constraints to prevent sudden changes in instructions between adjacent supports that could cause wavy bending of the scraper conveyor, the flatness of the corrected working surface is guaranteed.

[0074] In one embodiment of this disclosure, such as Figure 8 As shown, the local consistency deviation index L CDI With respect to the preset local allowable deviation threshold T L The ratio of to is used as the local normalization bias. r L The global trajectory deviation index G TDI With respect to the preset global allowable deviation threshold T G The ratio of is used as the global normalization bias. r G ;Will r L and r G Input the weighting function to calculate the local correction weights. w L and global correction weights w GMeanwhile, based on local high-frequency components d L (i) After local correction (including gain) K L and amplitude limit U L Generate local shift correction amount Thu L (i) Based on the difference between global low-frequency components and the design drift reference d G (i)-d ref (i) After global correction (including gain) K G and limit U G Generate global shift correction amount Thu G (i) Then use weights w L and w G The two correction values ​​are weighted and fused to obtain the initial target migration correction value. Then, the amplitude limiting calculation (sat) and the adjacent support smoothing constraint (|Δ) are sequentially performed on the initial target migration correction value. u ( i ) Δ u ( i 1) |≤ Dmax The final output is the actual amount of correction issued. Δu(i) .

[0075] Step 106: Control each hydraulic support to perform pushing action according to the target pushing correction amount in order to maintain the straightness of the working surface.

[0076] In some embodiments of this disclosure, step 106 may specifically include the following sub-steps: Step f1 involves planning the batch push sequence and checking safety constraints before controlling the push operation.

[0077] Specifically, all hydraulic supports are divided into multiple consecutive support groups, with each group containing a preset number of supports (e.g., each group may include 4 to 12 hydraulic supports). The pushing priority between groups is determined based on the absolute mean, maximum, or weighted value of the target pushing correction within each support group, and pushing commands are issued to each group of hydraulic supports sequentially according to the pushing priority. When a support group is being pushed, at least one adjacent support group remains locked or not pushed to reduce inter-group coupling interference. Step f2: Check the support status of the hydraulic support.

[0078] Specifically, the support status information of each support is obtained through the support status identification interface. When the support status of a hydraulic support is determined to be unsafe (such as imbalance, abnormal constraint, or dangerous level), pushing commands are prohibited from being issued to that support. When the support status of a hydraulic support is determined to be off-center load or the corresponding level of caution, the pushing speed of that support is limited to a preset reduction ratio (e.g., 40% to 80% of the rated pushing speed).

[0079] Understandably, combining the pushing action with support status control can prevent roof accidents or support collapse caused by pushing under unstable support conditions.

[0080] Step f3: Check the spatial position interlock of the coal mining machine.

[0081] Specifically, the current position of the coal mining machine is detected before the push command is issued. If the distance between the coal mining machine and the support to be pushed is less than the preset safe distance (e.g., 5 to 20 meters), the push command to be issued to that support is prohibited or delayed.

[0082] It should be noted that spatial interference near the coal mining machine is a common safety hazard underground. Spatial interlocking can prevent collisions between the pushing and moving actions and the movement of the coal mining machine.

[0083] Step f4: Following the batch-by-batch pushing sequence, the target pushing stroke and speed limits are sent to the electro-hydraulic control units of each hydraulic support, controlling the pushing actuators to perform the pushing action. The pushing actuators may include pushing jacks, hydraulic control valve assemblies, and the machine controller. After the pushing is completed, subsequent feedback update steps are executed.

[0084] In one embodiment, such as Figure 11 As shown in the figure, the shift sequence planning module of this disclosure receives the hydraulic support support status from the support status interface. S L (i, k) And the real-time position of the coal mining machine from the coal mining machine position interface. x m ( k) Safety constraints are assessed based on the layout of the equipment at the working face. Specifically, a safe distance is preset according to the location of the coal mining machine. Ds On both sides ± D sWithin the designated area, a prohibited movement zone is defined. Based on the support status, supports in the off-center load or attenuation level (e.g., Class B) are designated as a reduced-speed movement zone, supports in the unsafe level (e.g., Class U, A, D) are designated as a temporary suspension zone (temporarily suspended or prohibited from movement), and supports in the remaining normal state are designated as normal movement zones. The movement sequence planning module, based on the above zoning results, outputs control commands for normal movement, reduced-speed movement, temporary suspension, or prohibited movement to different support groups, thereby completing the batch movement scheduling while ensuring the spatial interlocking of the coal mining machine and the safety of the support. In one embodiment, such as Figure 9 As shown, this disclosure spatially groups multiple hydraulic supports arranged continuously along the working face according to a preset group size. The figure exemplarily shows groups of 8 hydraulic supports per group, forming sequentially... G 1, G 2, G 3,…, GM ,in M The total number of groups includes the moving group (current moving group), the locking group (left adjacent group, right adjacent group), and the waiting group (the remaining groups). Each support is numbered consecutively from 1 to the last support, with clear group boundaries and no overlap between groups. This grouping method can divide a large number of hydraulic supports in an ultra-long working face into multiple consecutive support groups, laying the spatial scheduling foundation for subsequent determination of moving priorities based on the target moving correction amount within the group and implementation of adjacent group locking control.

[0085] In one embodiment, such as Figure 10 As shown, the batch deployment sequence planning of this disclosure is presented in the form of a time Gantt chart, which fully shows the overall scheduling of the batch deployment of hydraulic support groups: the vertical axis represents the support group numbers arranged from high to low deployment priority (group number). G 1, G 2,…, GK The priority of each group decreases progressively from top to bottom. The horizontal axis represents time (t), indicating the start and end times and duration of each group's execution. Each row in the diagram corresponds to a support group. Dark solid blocks represent the execution period of the group's shifting action, and the blank spaces between adjacent dark blocks represent waiting intervals (i.e., adjacent groups remain locked or do not shift, to reduce coupling interference between groups). The shifting priority is not based on a single indicator, but rather on the target shifting correction amount Δ within each group's support. u ( i (Corresponding to, representing the comprehensive correction requirement of each group at the current moment) is dynamically calculated, specifically using the intra-group Δ... u ( i The mean of (reflecting the average deviation of the group as a whole) and the within-group Δ u ( iThe maximum value of the deviation (reflecting the most prominent extreme deviation of a single support within the group) is used as a dual evaluation indicator. In actual sorting, the maximum value can be prioritized as the primary sorting key, and when the maximum values ​​are similar, the average value can be used as a secondary sorting key. Alternatively, a weighted sum of the two values ​​can be obtained to obtain a comprehensive priority score. The larger the comprehensive score, the higher the support group's ranking on the vertical axis and the higher its execution priority. By combining the dynamic priority sorting on the vertical axis with the alternating arrangement of execution / waiting periods on the horizontal axis, this graph not only fully presents the deviation quantification (Δ...)... u ( i The entire scheduling logic, from the mean and maximum values ​​of the data to the group priority sorting and then to the execution timing control (alternating between the shift period and the locking interval), is implemented.

[0086] In some embodiments of this application, after the pushing action is completed, the process returns to the step of collecting the pushing displacement of multiple hydraulic supports corresponding to the working surface, thus forming a closed-loop feedback control.

[0087] In some embodiments of this disclosure, the above steps may specifically include the following sub-steps: Step g1, secondary correction judgment. Recalculate the local consistency deviation index and the global trajectory deviation index. If the recalculated local consistency deviation index is greater than the preset local allowable deviation threshold, or the global trajectory deviation index is greater than the preset global allowable deviation threshold, then repeat step 105 (i.e., generate the local shift correction amount, generate the global shift correction amount and merge them into the target shift correction amount), and issue the shift command again.

[0088] Understandably, this feedback loop allows for a second correction if the first correction is insufficient, until the deviation meets the requirements.

[0089] Step g2, dynamic threshold and parameter adaptation. When the average advance speed of the working face exceeds the preset advance speed threshold, the local allowable deviation threshold and the global allowable deviation threshold are increased linearly according to the advance speed. Specifically: T L (v adv ) = T L0 + c L · v adv T G (v adv ) = T G0 + c G · v adv in,v adv The average advancing speed of the working face. T L0 , T G0 Based on the threshold, c L , c G This is the speed correction factor. Simultaneously, the preset local correction limit value will be applied. U L and preset global correction limit U G The number of instructions will be reduced by a preset ratio, and the rolling issuance cycle of the push command will be shortened by a preset ratio.

[0090] It should be noted that under rapid propulsion conditions, the equipment response time and the speed of change of the top and bottom plates are accelerated. If the deviation threshold is kept too strict, it will lead to frequent secondary corrections, which will affect the production efficiency. By adjusting the dynamic threshold and the amplitude limit, the propulsion efficiency can be improved while ensuring the straightness.

[0091] Step g3: Correction pass rate statistics and parameter identification. After each preset number of shift cycles, the correction pass rate is calculated. When the correction pass rate is lower than a preset first threshold, the local correction gain and global correction gain are increased by a preset ratio. When the correction pass rate is lower than a preset second threshold, the parameter identification process is triggered to re-determine at least one of the following: spatial scale threshold, number of decomposition layers, filter order, or allowable deviation threshold. If the pass condition is still not met after a preset number of consecutive secondary corrections, automatic shift correction is stopped, and a manual review prompt is output. The manual review prompt includes at least the abnormal stent number, abnormal deviation type, the most recent local high-frequency component, global low-frequency component, local consistency deviation index, global trajectory deviation index, and target shift correction amount.

[0092] It should be noted that by monitoring the pass rate and adapting parameters, the method disclosed herein can be adapted to different working face lengths, different geological conditions and different advance speeds, thereby improving the robustness and repeatability of the control.

[0093] In some embodiments of this disclosure, a data quality management module may also be included. This module is used to record sensor missing data, communication delays, anomaly removal, and interpolation results, and when the data quality is lower than a preset confidence level, it will downgrade the automatic shift correction mode to a limiting correction mode or a manual confirmation mode.

[0094] In one embodiment, such as Figure 3 As shown, the data processing module receives the displacement sequence of each hydraulic support. d ( i , t and stent status SL ( i , t After preprocessing, a spatial displacement sequence is obtained. d ( i The spatial sequence construction module will... d ( i A spatial sequence is constructed according to the arrangement order of the supports, and decomposed into global low-frequency components and local high-frequency components by the spatial scale decoupling module; the local deviation calculation module and the global deviation calculation module calculate the local consistency deviation index and the global trajectory deviation index, respectively. The calculation results are input into the weight and correction calculation module to generate the target migration correction amount Δ for each support. i The shift sequence planning module combines the support status provided by the support status identification interface and the coal mining machine position provided by the coal mining machine position interface. x m ( t The system generates a batch pushing sequence and outputs it to the instruction issuing module, which in turn controls the pushing execution mechanism to perform the pushing operation. The feedback update module updates the control parameters based on the execution results. The human-machine interaction and alarm unit is used to display the running status and output manual review prompts.

[0095] According to the embodiment of this disclosure, the local-global decoupled pushing and straightening method for hydraulic support groups in ultra-long working faces decomposes the pushing displacement sequence of the hydraulic support group into global low-frequency components and local high-frequency components according to spatial scale. The global trajectory deviation index and the local consistency deviation index are calculated respectively, and the local correction weight and the global correction weight are dynamically allocated according to their relative magnitude. Then, the generated local pushing correction amount and global pushing correction amount are weighted and fused into a target pushing correction amount. Finally, the pushing operation of each hydraulic support is controlled according to the target pushing correction amount. This disclosure accurately distinguishes between local inter-support inconsistency deviation and global trajectory skew deviation, avoiding over-correction or under-correction caused by single index correction. At the same time, the weight adaptive fusion makes the correction strategy match the dominant type of the current deviation, thereby significantly improving the stability, repeatability and control efficiency of maintaining the straightness of ultra-long working faces.

[0096] Figure 12 This is a block diagram illustrating a locally-globally decoupled pushing and straightening device for an ultra-long working face hydraulic support group, according to an exemplary embodiment. (Refer to...) Figure 12 The device includes a data acquisition unit 1201, a decomposition unit 1202, a calculation unit 1203, a determination unit 1204, a fusion unit 1205, and a control unit 1206.

[0097] Among them, the acquisition unit 1201 is used to acquire the pushing displacement of multiple hydraulic supports corresponding to the working surface, and obtain the pushing displacement sequence of multiple hydraulic supports in the direction along the working surface. The decomposition unit 1202 is used to decompose the displacement sequence into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-support inconsistency deviation according to the arrangement order of multiple hydraulic supports along the working surface direction and a preset spatial scale threshold. The calculation unit 1203 is used to calculate the local consistency deviation index based on the local high-frequency components and to calculate the global trajectory deviation index based on the difference between the global low-frequency components and the design drift reference. The determination unit 1204 is used to determine the local correction weight and the global correction weight based on the local consistency deviation index and the global trajectory deviation index. The fusion unit 1205 is used to generate a local shift correction amount based on the local high-frequency components, generate a global shift correction amount based on the difference between the global low-frequency components and the design shift reference, and fuse the local shift correction amount and the global shift correction amount into the target shift correction amount for each hydraulic support using local correction weights and global correction weights. Control unit 1206 is used to control each hydraulic support to perform pushing action according to the target pushing correction amount in order to maintain the straightness of the working surface.

[0098] In some embodiments of this disclosure, the decomposition unit 1202 may be specifically used to: determine decomposition parameters based on a spatial scale threshold by employing any one of the discrete wavelet decomposition method, zero-phase low-pass filtering method, sliding window local regression or spline smoothing method, and decompose the shifted displacement sequence into global low-frequency components and local high-frequency components according to the decomposition parameters.

[0099] In some embodiments of this disclosure, the apparatus further includes a resampling unit, which can be specifically used for: The numbers of multiple hydraulic supports are converted into spatial coordinates along the working face direction; the spatial coordinates are determined by the center distance of the supports, the working face measurement reference, or the position sequence of the scraper conveyor. When the actual center distances of each support along the working surface are not completely equal, the displacement sequence is resampled at equal spatial intervals with spatial coordinates as the independent variable to obtain an equal spatial interval sequence. The decomposition unit 1202 can be specifically used to decompose the equispaced sequence into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-frame inconsistency deviation according to a preset spatial scale threshold.

[0100] In some embodiments of this disclosure, the computing unit 1203 may specifically be used for: The local consistency deviation index is calculated using the following formula. L CDI : L CDI =max|δ L (i)-dL (i-1)|+α L ·RMS[δ L (i)-d L (i-1)] in, d L (i) Let be the local high-frequency component of the i-th hydraulic support. α L These are the preset local weighting coefficients. RMS This is the root mean square operation.

[0101] In some embodiments of this disclosure, the computing unit 1203 may specifically be used for: The global trajectory deviation index is calculated using the following formula. G TDI : G TDI =|mean(δ G (i)-d ref (i))|+α G ·max|δ G (i)-d ref (i)-mean(δ G (i)-d ref (i))| in, d G (i) Let be the global low-frequency component of the i-th hydraulic support. d ref (i) To design the reference point, α G These are the preset global weighting coefficients. mean It is the arithmetic mean.

[0102] In some embodiments of this disclosure, the determining unit 1204 may specifically be used for: The local consistency deviation index is divided by the preset local allowable deviation threshold to obtain the local normalized deviation. Divide the global trajectory deviation index by the preset global allowable deviation threshold to obtain the global normalized deviation; The local correction weights are calculated using the following formula. w L and global correction weights w G : w L =clip(r L / (r L +r G +e), w min , w max ) w G =1-w L Where, r L This is a local normalization bias. r G This is the global normalization bias. e To prevent positive numbers with a denominator of zero; clip ( ,W min ,W max ) This indicates that the value within the parentheses is restricted to a certain range. W min and W max Limiting calculations between; W min This is the preset lower limit of the local correction weight. W max This is the preset upper limit of the local correction weight, and 0<W min <W max <1 .

[0103] In some embodiments of this disclosure, the fusion unit 1205 may specifically be used for: The local displacement correction is calculated using the following formula: Thu L (i)=sat[-K L ·d L (i), U L ] in, Thu L (i) For the first i The local displacement correction amount of the hydraulic support. d L (i) For the first iLocal high-frequency components of hydraulic supports. K L This is the preset local correction gain. U L This is the preset local correction limit value, which is the maximum allowable absolute value of a single local correction. sat[ ,U L ] This indicates that the value within the parentheses is restricted to a certain range. [ U L ,U L ] Limiting calculation within the range; The global shift correction is calculated using the following formula: Thu G (i)=sat[-K G ·(d G (i)-d ref (i)), U G ] in, Thu G (i) For the first i The global displacement correction amount of the hydraulic support. d G (i) For the first i The global low-frequency components of the hydraulic support frame d ref (i) For the first i Design reference for hydraulic support movement K G This is the preset global correction gain. U G The preset global correction limit value. sat[ ,U G ] For amplitude limiting calculation, the value within the parentheses is limited to... [ U G ,U G ] Within the range; The target displacement correction for each hydraulic support is calculated using the following formula: Δu(i) = wL · Thursday L (i) + w G · Thursday G (i) in, Δu(i) For the first i The target displacement correction amount for the hydraulic support. w L For local weight adjustment, w G To adjust the weights globally, |Δu(i)-Δu(i-1)|≤D max , D max This is the preset upper limit for the smoothing difference.

[0104] In some embodiments of this disclosure, the apparatus further includes a batch pushing unit, which can be specifically used for: All hydraulic supports are divided into multiple continuous support groups, and the number of supports in each group is the preset group size; The pushing priority between groups is determined based on the absolute average, maximum or weighted value of the target pushing correction amount within each group of supports, and pushing instructions are issued to each group of hydraulic supports in sequence according to the pushing priority. When a stent group is pushed, at least one stent group adjacent to the stent group remains locked or not pushed. When the support status of the hydraulic support is determined to be unsafe, it is prohibited to issue a pushing command to the support. When the support condition of the hydraulic support is determined to be an off-center load condition, the pushing speed of the support is reduced to a preset reduction ratio. Before issuing the pushing command, the position of the coal mining machine is detected. If the distance between the coal mining machine and the support to be pushed is less than the preset safe distance, the pushing command to the support is prohibited or delayed.

[0105] In some embodiments of this disclosure, the apparatus further includes a feedback update unit, which can be specifically used for: After the pushing action is completed, return to the step of collecting the pushing displacement of multiple hydraulic supports corresponding to the working surface; If the recalculated local consistency deviation index is greater than the preset local allowable deviation threshold, or the global trajectory deviation index is greater than the preset global allowable deviation threshold, then repeat the step of generating local shift correction amount based on local high-frequency components until it is fused into the target shift correction amount, and issue the shift command again. When the average advance speed of the working face exceeds the preset advance speed threshold, the local allowable deviation threshold and the global allowable deviation threshold are increased linearly according to the advance speed. In addition, the preset local correction limit value and the preset global correction limit value are reduced by a preset ratio, and the rolling issuance cycle of the advance command is shortened by a preset ratio. After each preset number of iterations, the correction pass rate is calculated. When the correction pass rate is lower than the preset first threshold, the correction gain is increased. When the correction pass rate is lower than the preset second threshold, the parameter identification process is triggered to redetermine the spatial scale threshold or allowable deviation threshold.

[0106] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0107] According to the embodiments of this disclosure, the local-global decoupled pushing and straightening device for a hydraulic support group in an ultra-long working face decomposes the pushing displacement sequence of the hydraulic support group into global low-frequency components and local high-frequency components according to the spatial scale. The global trajectory deviation index and the local consistency deviation index are calculated respectively, and the local correction weight and the global correction weight are dynamically allocated according to their relative magnitude. Then, the generated local pushing correction amount and global pushing correction amount are weighted and fused into a target pushing correction amount. Finally, the pushing operation of each hydraulic support is controlled according to the target pushing correction amount. This disclosure accurately distinguishes between local inter-support inconsistency deviation and global trajectory skew deviation, avoiding over-correction or under-correction caused by single index correction. At the same time, the weight adaptive fusion makes the correction strategy match the dominant type of the current deviation, thereby significantly improving the stability, repeatability and control efficiency of maintaining the straightness of the ultra-long working face.

[0108] Figure 13 This is a block diagram illustrating an apparatus for a locally-globally decoupled pushing and straightening method for a hydraulic support group on an ultra-long working face, according to an exemplary embodiment. For example, apparatus 1300 may be an electronic device, such as a mobile phone, computer, digital broadcasting terminal, messaging device, tablet device, personal digital assistant, etc.

[0109] Reference Figure 13 The device 1300 may include one or more of the following components: a processing component 1302, a memory 1304, a power component 1306, a multimedia component 1308, an audio component 1310, an input / output I / O interface 1312, a sensor component 1314, and a communication component 1316.

[0110] Processing component 1302 typically controls the overall operation of device 1300, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 1302 may include one or more processors 1320 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 1302 may include one or more modules to facilitate interaction between processing component 1302 and other components. For example, processing component 1302 may include a multimedia module to facilitate interaction between multimedia component 1308 and processing component 1302.

[0111] Memory 1304 is configured to store various types of data to support the operation of device 1300. Examples of such data include instructions for any application or method operating on device 1300, contact data, phonebook data, messages, pictures, videos, etc. Memory 1304 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0112] The power component 1306 provides power to the various components of the device 1300. The power component 1306 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to the device 1300.

[0113] Multimedia component 1308 includes a screen that provides an output interface between the device 1300 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 1308 includes a front-facing camera and / or a rear-facing camera. When the device 1300 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0114] Audio component 1310 is configured to output and / or input audio signals. For example, audio component 1310 includes a microphone (MIC) configured to receive external audio signals when device 1300 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 1304 or transmitted via communication component 1316. In some embodiments, audio component 1310 also includes a speaker for outputting audio signals.

[0115] I / O interface 1312 provides an interface between processing component 1302 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0116] Sensor assembly 1314 includes one or more sensors for providing status assessments of various aspects of device 1300. For example, sensor assembly 1314 may detect the on / off state of device 1300, the relative positioning of components such as the display and keypad of device 1300, changes in the position of device 1300 or a component of device 1300, the presence or absence of user contact with device 1300, the orientation or acceleration / deceleration of device 1300, and temperature changes of device 1300. Sensor assembly 1314 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 1314 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 1314 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0117] Communication component 1316 is configured to facilitate wired or wireless communication between device 1300 and other devices. Device 1300 can access wireless networks based on communication standards, such as WiFi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 1316 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 1316 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0118] In an exemplary embodiment, the apparatus 1300 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0119] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 1304 including instructions, which can be executed by a processor 1320 of the device 1300 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0120] In an exemplary embodiment, a computer program product is also provided, including a computer program that implements the above-described method when executed by the processor 1320 of the device 1300.

[0121] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein.

[0122] It should be understood that this disclosure is not limited to the precise structures described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope.

Claims

1. A method for locally-globally decoupled pushing and straightening of a hydraulic support group for an ultra-long working face, characterized in that, include: The displacement of multiple hydraulic supports corresponding to the working face is collected to obtain the displacement sequence of multiple hydraulic supports along the working face direction; According to the arrangement order of the multiple hydraulic supports along the working surface, the displacement sequence is decomposed into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-support inconsistency deviation according to a preset spatial scale threshold. The local consistency deviation index is calculated based on the local high-frequency components, and the global trajectory deviation index is calculated based on the difference between the global low-frequency components and the design drift reference. The local correction weight and the global correction weight are determined based on the local consistency deviation index and the global trajectory deviation index. A local shift correction amount is generated based on the local high-frequency components, a global shift correction amount is generated based on the difference between the global low-frequency components and the design shift reference, and the local shift correction amount and the global shift correction amount are fused together using the local correction weight and the global correction weight to form the target shift correction amount for each hydraulic support. The hydraulic supports are controlled to perform pushing operations based on the target pushing correction amount in order to maintain the straightness of the working surface.

2. The method according to claim 1, characterized in that, The step of decomposing the displacement sequence into a global low-frequency component characterizing global trajectory deviation and a local high-frequency component characterizing local inter-frame inconsistency deviation according to a preset spatial scale threshold includes: The decomposition parameters are determined based on the spatial scale threshold using any one of the discrete wavelet decomposition method, zero-phase low-pass filtering method, sliding window local regression, or spline smoothing method. The shifted displacement sequence is then decomposed into the global low-frequency component and the local high-frequency component according to the decomposition parameters.

3. The method according to claim 1, characterized in that, Before decomposing the displacement sequence into a global low-frequency component characterizing global trajectory deviation and a local high-frequency component characterizing local inter-support inconsistency deviation according to the arrangement order of the plurality of hydraulic supports along the working surface direction, the method further includes: The numbers of the plurality of hydraulic supports are converted into spatial coordinates along the working surface direction; the spatial coordinates are determined by the center distance of the supports, the working surface measurement reference, or the position sequence of the scraper conveyor. When the actual center distances of each support along the working surface are not completely equal, the displacement sequence is resampled at equal spatial intervals using the spatial coordinates as the independent variable to obtain an equal spatial interval sequence. The step of decomposing the displacement sequence into a global low-frequency component characterizing global trajectory deviation and a local high-frequency component characterizing local inter-frame inconsistency deviation according to a preset spatial scale threshold includes: The equal spatial interval sequence is decomposed into a global low-frequency component representing global trajectory deviation and a local high-frequency component representing local inter-frame inconsistency deviation according to a preset spatial scale threshold.

4. The method according to claim 1, characterized in that, The calculation of the local consistency deviation index based on the local high-frequency components includes: The local consistency deviation index is calculated using the following formula. L CDI : L CDI =max|δ L (i)-δ L (i-1)|+α L ·RMS[δ L (i)-δ L (i-1)] in, δ L (i) Let be the local high-frequency component of the i-th hydraulic support. α L These are the preset local weighting coefficients. RMS This is the root mean square operation.

5. The method according to claim 1, characterized in that, The calculation of the global trajectory deviation index based on the difference between the global low-frequency component and the design drift reference includes: The global trajectory deviation index is calculated using the following formula. G TDI : G TDI =|mean(δ G (i)-δ ref (i))|+α G ·max|δ G (i)-δ ref (i)-mean(δ G (i)-δ ref (i))| in, δ G (i) Let be the global low-frequency component of the i-th hydraulic support. δ ref (i) To design the reference for the shift, α G These are the preset global weighting coefficients. mean It is the arithmetic mean.

6. The method according to claim 1, characterized in that, The step of determining the local correction weight and the global correction weight based on the local consistency deviation index and the global trajectory deviation index includes: Divide the local consistency deviation index by the preset local allowable deviation threshold to obtain the local normalized deviation. Divide the global trajectory deviation index by a preset global allowable deviation threshold to obtain the global normalized deviation; The local correction weights are calculated using the following formula. w L and global correction weights w G : w L =clip(r L / (r L +r G +ε), w min , w max ) w G =1-w L Where, r L This is a local normalization bias. r G This is the global normalization bias. ε To prevent positive numbers with a denominator of zero; clip( , W min ,W max ) This indicates that the value within the parentheses is restricted to a certain range. W min and W max Limiting calculations between; W min This is the preset lower limit of the local correction weight. W max This is the preset upper limit of the local correction weight, and 0<W min <W max <1 .

7. The method according to claim 1, characterized in that, The process of generating a local displacement correction based on the local high-frequency components, generating a global displacement correction based on the difference between the global low-frequency components and the design displacement reference, and fusing the local displacement correction and the global displacement correction using the local correction weight and the global correction weight to form the target displacement correction for each hydraulic support includes: The local displacement correction is calculated using the following formula: Δu L (i)=sat[-K L ·δ L (i), U L ] in, Δu L (i) For the first i The local displacement correction amount of the hydraulic support. δ L (i) For the first i Local high-frequency components of hydraulic supports. K L This is the preset local correction gain. U L This is the preset local correction limit value, which is the maximum allowable absolute value of a single local correction amount. sat[ ,U L ] This indicates that the value within the parentheses is restricted to a certain range. [ U L ,U L ] Limiting calculation within the range; The global shift correction is calculated using the following formula: Δu G (i)=sat[-K G ·(δ G (i)-δ ref (i)), U G ] in, Δu G (i) For the first i The global displacement correction amount of the hydraulic support. δ G (i) For the first i The global low-frequency components of the hydraulic support. δ ref (i) For the first i Design reference for hydraulic support movement K G This is the preset global correction gain. U G The preset global correction limit value. sat[ ,U G ] For amplitude limiting calculation, the value within the parentheses is limited to... [ U G ,U G ] Within the range; The target displacement correction for each hydraulic support is calculated using the following formula: Δu(i) = w L · Δu L (i) + w G · Δu G (i) in, Δu(i) For the first i The target displacement correction amount for the hydraulic support. w L For local weight adjustment, w G To adjust the weights globally, |Δu(i)-Δu(i-1)|≤D max , D max This is the preset upper limit for the smoothing difference.

8. The method according to claim 1, characterized in that, Before controlling each hydraulic support to perform the pushing action according to the target push correction amount, the method further includes: All hydraulic supports are divided into multiple continuous support groups, and the number of supports in each group is the preset group size; The pushing priority between groups is determined based on the absolute average, maximum or weighted value of the target pushing correction amount within each group of supports, and pushing commands are issued to each group of hydraulic supports in sequence according to the pushing priority. When a support group is pushed, at least one support group adjacent to the support group remains locked or not pushed. When the support status of the hydraulic support is determined to be unsafe, it is prohibited to issue a pushing command to the support. When the support state of the hydraulic support is determined to be an off-center load state, the pushing speed of the support is reduced to a preset reduction ratio. Specifically, the position of the coal mining machine is detected before the push command is issued. If the distance between the coal mining machine and the support to be pushed is less than the preset safe distance, the push command to be issued to the support is prohibited or delayed.

9. The method according to claim 1, characterized in that, Also includes: After the pushing action is completed, return to the step of pushing the displacement of the multiple hydraulic supports corresponding to the data acquisition working surface; If the recalculated local consistency deviation index is greater than the preset local allowable deviation threshold, or the global trajectory deviation index is greater than the preset global allowable deviation threshold, then the steps of generating a local shift correction amount based on the local high-frequency component, generating a global shift correction amount based on the difference between the global low-frequency component and the design shift benchmark, and merging the local shift correction amount and the global shift correction amount into the target shift correction amount for each hydraulic support using the local correction weight and the global correction weight, are repeated, and the shift command is issued again. When the average advancing speed of the working face exceeds the preset advancing speed threshold, the local allowable deviation threshold and the global allowable deviation threshold are increased linearly according to the advancing speed, and the preset local correction limit value and the preset global correction limit value are reduced by a preset ratio, and the rolling issuance cycle of the advancing command is shortened by a preset ratio. After each preset number of iterations, the correction pass rate is calculated. When the correction pass rate is lower than the preset first threshold, the correction gain is increased. When the correction pass rate is lower than the preset second threshold, the parameter identification process is triggered to redetermine the spatial scale threshold or allowable deviation threshold.

10. A local-to-global decoupled pushing and straightening device for a hydraulic support group with an ultra-long working face, characterized in that, include: The acquisition unit is used to acquire the displacement of multiple hydraulic supports corresponding to the working face, and obtain the displacement sequence of multiple hydraulic supports along the working face direction; The decomposition unit is used to decompose the displacement sequence into a global low-frequency component representing the global trajectory deviation and a local high-frequency component representing the local inter-support inconsistency deviation, according to the arrangement order of the plurality of hydraulic supports along the working surface direction. The calculation unit is used to calculate the local consistency deviation index based on the local high-frequency components and to calculate the global trajectory deviation index based on the difference between the global low-frequency components and the design drift reference. The determining unit is used to determine the local correction weight and the global correction weight based on the local consistency deviation index and the global trajectory deviation index. The fusion unit is used to generate a local shift correction amount based on the local high-frequency component, generate a global shift correction amount based on the difference between the global low-frequency component and the design shift reference, and fuse the local shift correction amount and the global shift correction amount into the target shift correction amount for each hydraulic support using the local correction weight and the global correction weight. The control unit is used to control each hydraulic support to perform pushing action according to the target pushing correction amount in order to maintain the straightness of the working surface.

11. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as described in any one of claims 1 to 9.

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