Equipment group pose cooperative correction control method based on digital twinning

Abstract

The application discloses an equipment group pose cooperative correction control method based on digital twinning, and relates to the technical field of engineering equipment group intelligent control.The method realizes real-time collection of equipment inclination, displacement and stress data through a plurality of source sensors, realizes global pose reconstruction of the equipment group by using a homogeneous transformation matrix based on a stress and position state perception model of the gravity inclination effect, synchronously maps to a digital twinning model, extracts lateral displacement deviation, roll angle deviation and yaw angle deviation to form a feature vector, constructs a dynamic threshold adaptive update matrix and a compound instability judgment logic matrix, realizes advanced identification and hierarchical early warning in combination with a three-dimensional working space safety boundary, generates a dynamic ideal pose based on adjacent frame attitude data coupling, calculates attitude compensation parameters and driving force dynamic distribution weights, generates a cooperative correction scheme through a group coupling update mechanism and inputs the digital twinning model for virtual rehearsal verification, and realizes mechanical balance of the group as a whole and accurate optimization of correction parameters.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for engineering equipment groups, specifically a method for collaborative posture correction control of equipment groups based on digital twins. Background Technology

[0002] The posture stability control of engineering equipment groups is a core link to ensure safe production and operational efficiency under complex working conditions. Especially in the operation scenario of hydraulic support groups in underground coal mines, the characteristics of large tilt angles, small working space, and multi-dimensional coupled instability place extremely high demands on the posture control of the equipment groups.

[0003] Current equipment posture monitoring only deploys tilt and displacement sensors on individual pieces of equipment, connected to a local controller via wired connections. This single-point monitoring mode can only independently collect and display local tilt and displacement parameters. It lacks a global posture perception network for the equipment group and cannot uniformly express the relative posture relationship between adjacent equipment in the same coordinate system. This results in the inability to identify group deviations such as squeezing or misalignment between adjacent equipment. In terms of instability prevention and control, existing technologies mainly rely on passive structural protection measures such as fixed anti-rollover and anti-slip measures, combined with the manual experience of operators for judgment and intervention. Since no instability prediction model based on posture data has been established, instability judgment heavily relies on fixed tilt or displacement thresholds. It cannot adaptively adjust according to dynamic working conditions such as changes in coal seam dip angle and the overall posture deviation trend of the equipment group. This passive and static judgment method makes it impossible for the system to provide early warning and intervention before potential instability occurs, posing a great safety hazard.

[0004] When equipment experiences positional deviations requiring correction, current operations rely entirely on manual control of the local electro-hydraulic controller. Operators adjust attitude adjustment devices such as columns and jacks based on personal experience. Due to the lack of standardized methods for calculating correction parameters and quantified adjustment guidelines, the correction accuracy is low, the response speed is slow, and manual operation is subject to significant individual differences and safety hazards. This correction mode only performs isolated adjustments on a single piece of equipment, without considering the mechanical coupling relationship between adjacent equipment. Adjusting a single machine may cause the stress state of adjacent frames to deteriorate and lead to chain shifts, making it impossible to achieve coordinated attitude adjustment of the entire equipment group.

[0005] In summary, existing technologies have systematic shortcomings in global pose perception, dynamic instability prediction, and group collaborative correction. There is an urgent need for an intelligent method that can achieve global pose fusion perception of equipment groups, dynamic threshold composite instability identification, and distributed collaborative correction, so as to improve the intelligence level and operational stability of equipment group control in large tilt angle and confined space. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a collaborative posture correction control method for equipment groups based on digital twins. This method collects equipment tilt angle, displacement, and force data in real time through multi-source sensors. Based on a gravity-tilt effect force and position perception model, after adaptive Kalman filtering, the method uses a homogeneous transformation matrix to reconstruct the global posture of the equipment group and simultaneously maps it to the digital twin model. It extracts lateral displacement deviation, roll angle deviation, and yaw angle deviation to form feature vectors, constructs a dynamic threshold adaptive update matrix and a composite instability judgment logic matrix, and combines the three-dimensional workspace safety boundary to achieve advanced identification and graded early warning of tipping, sliding, tailing, and composite instability. Using the early warning signal as a trigger, a dynamic ideal posture is generated based on the coupling of adjacent frame posture data. The posture compensation parameters and driving force are dynamically allocated weights. A collaborative correction scheme is generated through a group coupling update mechanism. The correction scheme is input into the digital twin model for virtual pre-simulation verification, realizing a leap from passive response to active prediction. Moreover, the distributed collaborative correction and virtual pre-simulation feedback mechanism of adjacent frame data coupling ensures the overall mechanical balance of the group and the accurate optimization of correction parameters.

[0007] To solve the above-mentioned technical problems, this invention provides the following technical solution: a collaborative posture correction control method for equipment groups based on digital twins, the specific steps of which are as follows: S100. Collect pose and force data through multi-source sensors deployed in the equipment group, construct a force and position perception model based on gravity-tilt effect, preprocess and spatiotemporally register the pose and force data, construct a full position parameter matrix representing the spatial position and attitude of the equipment, and map the full position parameter matrix to a digital twin model to achieve virtual-real synchronization. S200: Extract the characteristic parameters of tipping instability, glide instability and tail yaw instability, construct a composite instability critical threshold judgment matrix, compare the real-time full position parameter matrix with the ideal position data, calculate the lateral displacement deviation, roll angle deviation and yaw angle deviation, combine the boundary constraint principle of the three-dimensional workspace, determine the instability type, risk level and target equipment number of the equipment group, and generate an advanced early warning signal. S300. Using the aforementioned early warning signal as a trigger condition, locate the unstable equipment and its left and right adjacent equipment. Calculate the relative pose relationship between the unstable equipment and its adjacent equipment using a homogeneous transformation matrix. Generate a dynamic ideal pose based on the coupling of adjacent frame attitude data. Calculate the attitude compensation parameters and the dynamic allocation weight of the driving force to generate a collaborative correction scheme. S400. Input the collaborative correction scheme into the digital twin model for virtual pre-simulation, and verify whether the three-dimensional workspace of the adjusted equipment group meets the safety boundary constraints.

[0008] Furthermore, in S100, the process of establishing the force and position sensing model based on the gravity-tilt effect is as follows: A homogeneous transformation matrix is ​​constructed using the base as a reference, and the position parameters and attitude angles are uniformly expressed as a full-state parameter matrix, which is: , where the matrix The rotation matrix is ​​composed of the attitude angles of the equipment base. Let be the translation vector, where , , These represent the spatial coordinates of the equipment base in the X, Y, and Z axes of the global coordinate system. It is a 3x5 matrix. It is a 1x3 matrix. This is the matrix transpose operation. Equipment operation parameter vector The column lengths are as follows: Length of attitude adjustment actuator Elongation of the movable side guard plate of the top beam Equipment guard plate jack elongation , extension of the jack ; The rotation matrix From pitch angle Roll angle and yaw angle The attitude angles are composed of: ,in, To determine the pitch angle of the equipment base relative to the direction of gravity, To determine the roll angle of the equipment base relative to the direction of gravity, The yaw angle of the equipment base relative to the direction of gravity; The equipment attitude angles are inversely calculated using the elements of the rotation matrix. The inverse solution for the equipment attitude angles is as follows: ,in, , , These are the elements in the 1st, 2nd, and 3rd rows and 3rd columns of the rotation matrix. , This refers to the element in the first row and second and first columns of the rotation matrix; Column length Length of attitude adjustment actuator As an active variable, a geometric closed-loop equation is established based on the kinematics of the series-parallel mechanism. ,in, The column length vector. Let this be the initial vector of the column in the equipment's local coordinate system. For matrix , For matrix ; Calculate the actual length of the column ,in, , , These are the unit vectors in the X, Y, and Z directions of the local coordinate system of the equipment, respectively. State estimation equations and observation equations are established, and adaptive Kalman filtering is introduced to dynamically filter the pose and force data. The state estimation equation is as follows: The observation equation is: ,in, The state vector of the equipment at time k includes the equipment's spatial coordinates, pitch angle α, roll angle β, yaw angle γ, and column length. Length of attitude adjustment actuator and the elongation of the equipment guard plate jack , Let A be a vector composed of observations collected by multiple sensors at time k, including tilt sensors, displacement sensors, and pressure sensors. Let A be the system state transition matrix and B be the control input matrix. For equipment in The state vector at time t, H is the control input at time k-1, and H is the observation matrix. Let be the system noise vector. This is the observed noise vector.

[0009] Furthermore, in S100, the process of mapping the real-time full-state parameter matrix to the digital twin model is as follows: The coordinate transformation formula is used to convert the coordinates of any point in the local coordinate system of the equipment to the coordinates in the global coordinate system: In the formula, The coordinates are in the global coordinate system. To equip coordinates in the local coordinate system, For matrix , For matrix The matrix The rotation matrix is ​​composed of the attitude angles of the equipment base. Let be the translation vector, where , , These represent the spatial coordinates of the equipment base in the X, Y, and Z axes of the global coordinate system. This is the transpose operation for a matrix; The pose parameters of all equipment are converted into coordinates in the global coordinate system to construct a three-dimensional workspace data model of the equipment group. The three-dimensional workspace data model of the equipment group is synchronously mapped to the digital twin model.

[0010] Furthermore, in S200, the calculation process for lateral displacement deviation, roll angle deviation, and yaw angle deviation is as follows: Based on the boundary constraints of queue linearity, base perpendicular to the conveyor track groove, and column perpendicular to the base plane, the ideal position and ideal attitude of each piece of equipment are predicted. The ideal position and ideal attitude are expressed as follows: ,in , , These represent the spatial coordinates of the base in the X, Y, and Z axes of the global coordinate system under ideal conditions. , , These are the pitch angle, roll angle, and yaw angle of the equipment under ideal conditions; Calculate lateral displacement deviation Calculate the roll angle deviation Calculate the yaw angle deviation ,in, Indicates the current roll angle With ideal roll angle The difference, This represents the spatial coordinates of the equipment base in the X-axis direction in the global coordinate system. Compared to the ideal spatial coordinates of the base on the X-axis in the global coordinate system The difference, Indicates the current yaw angle With ideal yaw angle The difference.

[0011] Furthermore, in S200, the process for determining the instability type, risk level, and target equipment number of the equipment group is as follows: Based on the equipment's three-dimensional workspace safety domain Construct a composite instability critical threshold judgment matrix ,in, The dynamic threshold for roll angle. This is the dynamic threshold for lateral displacement. The dynamic threshold for yaw angle. This is the absolute value of the roll angle deviation. This refers to the absolute position deviation of the equipment in the X-axis direction of the global coordinate system. This represents the absolute value of the yaw angle deviation. This refers to the three-dimensional coordinate vector of the equipment key points in the global coordinate system. The warning levels of the advanced warning signals are classified according to the judgment results of the composite instability critical threshold judgment matrix: When any single factor is triggered, it is determined to be a Level 1 warning; When any two factors are triggered, it is determined to be a compound warning; When any three factors are triggered or the space exceeds the limit, it is determined to be a critical unstable state; A dynamic threshold update mechanism is introduced to correct the dynamic threshold based on historical operational data and the current overall attitude change trend of the equipment group. ,in, For the first Instability criterion in The dynamic threshold at any given time. For the first The initial safety thresholds for instability criteria include dynamic thresholds for roll angle, lateral displacement, and yaw angle. For the first The change in attitude deviation corresponding to the instability criterion. For the first Threshold adjustment coefficient for instability criteria.

[0012] Furthermore, in S300, the process of generating a dynamic ideal attitude based on the coupling of adjacent frame attitude data is as follows: Under a unified global coordinate system, the key point coordinates of the unstable equipment and its adjacent equipment are uniformly expressed by a homogeneous transformation matrix; Calculate the attitude deviation between the unstable equipment and adjacent equipment. ,in, For the first The position and orientation parameters of the unstable equipment. For the first The pose parameters of adjacent equipment; The dynamic ideal attitude is generated based on the coupling of adjacent frame attitude data. The roll angle ideal attitude is adopted by averaging the adjacent frames. The roll angle ideal attitude is as follows: ,in, For the first The ideal attitude angle of the unstable equipment in the roll direction. For the first The current roll angle of the equipment adjacent to the left of the unstable equipment. For the first The current roll angle of the equipment adjacent to the right side of the unstable equipment.

[0013] Furthermore, in S300, the process of calculating the attitude compensation parameters is as follows: by determining the unit normal vector of the contact surface between adjacent equipment. Calculate the side guard plate adjustment amount along the unit normal vector direction. ,in, To adjust the coefficients and satisfy , The center distance between the unstable equipment and the adjacent equipment. This refers to the roll angle deviation of unstable equipment.

[0014] Furthermore, in S300, the process of calculating attitude compensation parameters and dynamic allocation weights of driving force to generate a cooperative correction scheme is as follows: The thrust allocation weight is determined based on the warning level of the advanced warning signal. and And satisfy Calculate the overall adjustment force of the unstable equipment: ,in, For the first The overall adjustment capability of the unstable equipment in Taiwan. For the first The pushing force generated by the unstable equipment pushing mechanism of the platform For the first The coordinated pushing or reaction force generated by the adjacent equipment to the right of the unstable equipment is used to establish a group coupling update mechanism to ensure smooth and stable attitude updates. The group coupling update formula is as follows: ,in, After coordinated adjustment, the first Updated attitude parameters of Taiwan equipment For the first The original attitude parameters of the equipment at the current moment. For the first The original attitude parameters of the equipment at the current moment. For the first The original attitude parameters of the equipment at the current moment. Let be the convergence coefficient, satisfying This is used to ensure smooth attitude updates. The ideal attitude correction coefficient. For the first The dynamic ideal attitude parameters of the equipment; Establish a group-coupled update mechanism: ,in, After coordinated adjustment, the first Updated attitude parameters of Taiwan equipment For the first The original attitude parameters of the equipment at the current moment. Let be the convergence coefficient, satisfying , The ideal attitude correction coefficient. and The first Taiwan equipment is currently adjacent to the equipment on the left and right. The original attitude parameters at time 1. For the first The dynamic ideal attitude parameters of the equipment.

[0015] Furthermore, in S400, the virtual pre-play process is as follows: The adjusted base attitude rotation matrix was calculated based on the collaborative correction scheme. and the adjusted base translation vector ; Calculate the coordinates of the key points of the equipment in the global coordinate system after adjustment, and determine whether the coordinates of the key points of the equipment after adjustment are located within the safe domain of the equipment's three-dimensional workspace. Inside; If spatial interference or a new attitude exceeds the limit, return to S300; If all key point coordinates are within the safety domain of the equipment's three-dimensional workspace, the virtual pre-simulation verification is deemed successful.

[0016] Compared with existing technologies, this digital twin-based equipment group pose collaborative correction control method has the following advantages: I. This invention deploys tilt sensors, displacement sensors, and pressure sensors on the base, superstructure, and key actuator parts of each piece of equipment to collect pitch angle, roll angle, yaw angle, spatial displacement, and force data in real time. Based on the force and position perception model of gravity-tilt effect, after time synchronization, outlier removal, and dynamic filtering through adaptive Kalman filtering, the position parameters, attitude angles, and operating parameters of each piece of equipment are uniformly expressed as a full position parameter matrix using a homogeneous transformation matrix. The three-dimensional workspace data model of the equipment group is reconstructed under a unified global coordinate system. This model is synchronously mapped to the digital twin model in real time, ensuring that the position of the physical equipment and the virtual model are consistent. By comparing the deviation between the current workspace and the ideal workspace, group deviations such as squeezing and misalignment between adjacent equipment can be accurately identified, providing a reliable data foundation for subsequent instability judgment and coordinated correction.

[0017] II. This invention achieves advanced identification and graded early warning of three types of instability modes—tipping, sliding, and tailing—through a dynamic threshold adaptive update mechanism and a composite instability judgment logic matrix. Lateral displacement deviation, roll angle deviation, and yaw angle deviation are extracted from the reconstructed global pose data to form feature vectors for instability judgment. A dynamic threshold adaptive update matrix is ​​constructed, and the thresholds for each type of instability criterion are corrected in real time based on historical operating data and the current overall attitude change trend of the equipment group. This overcomes the problem of poor adaptability of fixed thresholds under different operating conditions. Based on this, a composite instability judgment logic matrix is ​​established, comparing the deviation amount with the dynamic threshold one by one. Simultaneously, spatial boundary judgment is performed in conjunction with the safe geometric boundary of the operating space. When a single deviation exceeds the limit, an early warning signal for the corresponding instability type is generated. When two or more instability conditions are simultaneously met or spatial boundary violations occur, it is judged as composite instability, and a composite early warning signal is generated, realizing a shift from passive response to proactive prediction.

[0018] Other advantages, objectives and features of the invention will be set forth in part in the description which follows, and in part will be apparent to those skilled in the art from the following examination or study, or may be learned from the practice of the invention. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0020] Figure 1 A flowchart illustrating the steps of a collaborative pose correction control method for equipment groups based on digital twins; Figure 2 This is a flowchart of the equipment group pose collaborative correction control method based on digital twin in an embodiment of the present invention; Figure 3 This is a flowchart of the process of S100 in an embodiment of the present invention. Detailed Implementation

[0021] To better understand the above technical solutions, a detailed description of the solutions will be provided below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0022] This invention provides a collaborative posture correction control method for equipment groups based on digital twins. This method is applicable to equipment groups consisting of multiple engineering equipment, and is particularly suitable for hydraulic support groups in underground coal mines. Figure 1 As shown, the specific steps of this method are as follows: S100. Collect pose and force data through multi-source sensors deployed in the equipment group, construct a force and position perception model based on gravity-tilt effect, preprocess and spatiotemporally register the pose and force data, construct a full position parameter matrix representing the spatial position and attitude of the equipment, and map the full position parameter matrix to a digital twin model to achieve virtual-real synchronization. S200: Extract the characteristic parameters of tipping instability, glide instability and tail yaw instability, construct a composite instability critical threshold judgment matrix, compare the real-time full position parameter matrix with the ideal position data, calculate the lateral displacement deviation, roll angle deviation and yaw angle deviation, combine the boundary constraint principle of the three-dimensional workspace, determine the instability type, risk level and target equipment number of the equipment group, and generate an advanced early warning signal. S300. Using the aforementioned early warning signal as a trigger condition, locate the unstable equipment and its left and right adjacent equipment. Calculate the relative pose relationship between the unstable equipment and its adjacent equipment using a homogeneous transformation matrix. Generate a dynamic ideal pose based on the coupling of adjacent frame attitude data. Calculate the attitude compensation parameters and the dynamic allocation weight of the driving force to generate a collaborative correction scheme. S400. Input the collaborative correction scheme into the digital twin model for virtual pre-simulation, and verify whether the three-dimensional workspace of the adjusted equipment group meets the safety boundary constraints.

[0023] The following is in conjunction with the appendix Figure 2 This embodiment provides a detailed description of a collaborative posture correction control method for equipment groups based on digital twins.

[0024] In step S100 above, the multi-source sensors include tilt sensors, displacement sensors, and pressure sensors. By uniformly collecting, filtering, and spatiotemporally registering sensor data dispersed across key parts of the equipment, and based on a gravity-tilt effect force and positional perception model, the position parameters, attitude angles, and operating parameters of each piece of equipment are uniformly expressed as a full-positional parameter matrix. Then, a three-dimensional workspace data model of the equipment group is reconstructed under a unified global coordinate system. Finally, this model is synchronously mapped to a digital twin model, achieving positional synchronization between the physical equipment and the virtual model. This provides a data foundation for subsequent composite instability determination and collaborative correction. In a preferred embodiment, such as... Figure 3 As shown, the specific process for this step is as follows: A local coordinate system is established for each piece of equipment. The origin of the local coordinate system is the intersection of the center line of the rear connecting rod of the equipment and the hinge pin of the base and the central symmetry plane of the equipment. The Z-axis of the local coordinate system is defined as perpendicular to the base plane and pointing upwards, which is the height direction of the equipment. The X-axis is defined as pointing to the side of the working surface, which is the forward direction of the equipment. The Y-axis is defined as pointing to the right along the width direction of the base, which together with the X-axis and Z-axis form a right-hand rectangular coordinate system. By establishing a unified rule for defining the local coordinate system, each piece of equipment in the equipment group adopts the same coordinate axis direction and origin selection principle, which lays a geometric benchmark for subsequent pose expression and coordinate transformation under a unified global coordinate system.

[0025] Tilt sensors, displacement sensors, and pressure sensors are installed on the base, superstructure, and key actuator parts of each piece of equipment. The tilt sensors are either dual-axis or single-axis tilt sensors, installed on the reference plane of the equipment base, to collect the pitch and roll angles of the equipment base relative to the direction of gravity in real time. Some measuring points are equipped with sensors to collect yaw angles. The displacement sensors are either laser displacement sensors or ultrasonic displacement sensors, installed between the equipment base and the contact surface with adjacent equipment, as well as at the column extension and retraction points, to collect the spatial coordinate displacement of the equipment and the extension and retraction of the column in real time. The pressure sensors are installed at the bottom of the column and inside the hydraulic cylinder of the jack to collect the force data of the equipment column and the jack in real time. All sensors collect the raw data through a data bus and send it to the edge computing unit, where the edge computing unit performs unified time synchronization processing and subsequent analysis of the data.

[0026] A homogeneous transformation matrix is ​​constructed using the equipment base as a reference, unifying the equipment's position parameters and attitude angles into a full-state parameter matrix. This full-state parameter matrix is ​​a 4x8 augmented matrix, and its expression is as follows: In the formula, the matrix This is a rotation matrix, composed of the attitude angles of the equipment base, used to describe the spatial attitude orientation of the equipment base in the global coordinate system. Let be the translation vector, where , , These are the spatial coordinates of the equipment base along the X, Y, and Z axes in the global coordinate system, used to describe the spatial position of the equipment base in the global coordinate system. It is a 3x5 matrix whose elements are determined by the functional relationship between equipment operating parameters and equipment attitude angles, and is used to describe the contribution of changes in operating parameters to spatial pose. It is a 1x3 matrix. Equipment operation parameter vector The column lengths are as follows: Length of attitude adjustment actuator Elongation of the movable side guard plate of the top beam Equipment guard plate jack elongation , extension of the jack This is used to describe the current operating status of each actuator of the equipment.

[0027] Construction based on pitch angle Roll angle and yaw angle The rotation matrix formed Pitch angle The roll angle is the angle at which the equipment base rotates about the Y-axis relative to the direction of gravity. The yaw angle is the angle at which the equipment base rotates about the X-axis relative to the direction of gravity. The rotation matrix is ​​expressed as the angle by which the base rotates about the Z-axis relative to the direction of gravity: The rotation matrix is ​​composed of trigonometric functions of pitch, roll, and yaw angles. Each column of the matrix represents the components of the unit vectors of the X, Y, and Z axes in the equipment's local coordinate system in the global coordinate system. A matrix transforms any vector in the local coordinate system of an equipment to be expressed in the global coordinate system.

[0028] In actual operation, when the equipment undergoes a large angular deflection, the sensor readings include the effects of multi-axis coupling. Therefore, the accurate equipment attitude angle is obtained through mathematical inverse kinematics. The inverse kinematics formula for the equipment attitude angle is as follows: ,in, The element in the first row and third column of the rotation matrix corresponds to the element in the first row and third column of the expression for the rotation matrix. item; and These are the elements in the 2nd row and the 3rd row and 3rd column of the rotation matrix, respectively. and The elements in the first row and second column and the first row and first column of the rotation matrix are respectively used. The inverse kinematics formula is used to uniquely determine the three attitude angles at the corresponding moment from any given rotation matrix, thereby realizing the mathematical expression of the equipment space attitude angle from the tilt sensor data.

[0029] Column length Length of attitude adjustment actuator As an active variable, a geometric closed-loop equation is established based on the kinematics of the series-parallel mechanism. Given the known orientation of the base, the spatial vector of the column can be obtained from the initial vector through a homogeneous transformation. The expression of the geometric closed-loop equation is as follows: ,in, This is a vector describing the spatial orientation and length of the column in its current orientation, originating at the base hinge point and ending at the top beam hinge point. Let be the initial direction vector of the column in the equipment's local coordinate system. The rotation matrix at the current moment , The translation vector at the current moment .

[0030] After obtaining the spatial vector of the column in its current attitude, the actual length of the column in its current attitude is calculated by projecting this vector onto the coordinate axes of the equipment's local coordinate system and taking its modulus. The formula for calculating the actual length of the column is as follows: ,in, , , These are the unit vectors in the X, Y, and Z directions of the local coordinate system of the equipment, respectively. , , These are the components of the column vector in the X, Y, and Z axes of the equipment's local coordinate system, respectively.

[0031] To improve the accuracy and stability of pose parameter calculation, an adaptive Kalman filter is introduced to dynamically filter multi-source data, establishing the system's state estimation equation and observation equation. The state estimation equation is as follows: The observation equation is: ,in, For equipment in The state vector at time t, which contains the equipment at... Spatial coordinates of time , , Pitch angle Roll angle Yaw angle Column length Length of attitude adjustment actuator And the elongation of the jacks on each equipment guard plate , In order to be in A vector composed of observations collected by the tilt sensor, displacement sensor, and pressure sensor at any given time, containing the values ​​of each sensor at different times. The actual measured values ​​at each moment are: A is the system state transition matrix, describing the deterministic evolution of the equipment's pose state from the previous moment to the current moment; B is the control input matrix, describing the influence of the control input of the electro-hydraulic control system on the equipment state. for The control input at any given time includes command signals from each actuator. H is the observation matrix, which describes the mapping relationship between the equipment state vector and sensor observations. Let be the system noise vector. This is the observed noise vector.

[0032] Adaptive Kalman filtering employs a predictive-update cyclic process. At each sampling time, it first uses the state transition equation to predict the current equipment state, and then integrates new sensor observations to correct and update the state prediction. This ensures that the filtered state estimate maintains the continuity and smoothness of the equipment's motion while responding promptly to changes in actual pose. For occasional abnormal sensor jumps, the filtering algorithm automatically reduces the weight of abnormal observations by utilizing the relationship between the prediction residual and the observation noise covariance, thereby achieving adaptive outlier removal.

[0033] To achieve pose representation of all equipment in a unified coordinate system, the coordinates of each equipment in its local coordinate system are uniformly transformed to the global coordinate system. The coordinate transformation formula is as follows: ,in, This represents the three-dimensional coordinate vector of the key points of the equipment in the global coordinate system. This represents the three-dimensional coordinate vector of the key points of the equipment in the equipment's local coordinate system. The rotation matrix of the equipment at the current moment. , The translation vector of the equipment at the current moment. .

[0034] After converting the pose parameters of all key equipment points into three-dimensional coordinates in the global coordinate system using coordinate transformation formulas, a three-dimensional workspace data model of the equipment group is constructed. This model includes the three-dimensional spatial position of all key equipment points in the equipment group in a unified global coordinate system, the current attitude angle of each piece of equipment, and the extension and retraction status information of each actuator.

[0035] The three-dimensional workspace data model of the equipment group is synchronously mapped to the digital twin model in real time. By receiving real-time pose data, the virtual model is driven to move, so that the virtual model and the physical equipment are kept in sync. By comparing the deviation between the current workspace data and the ideal workspace data, the digital twin model can detect whether there is any abnormal positional shift of each piece of equipment in real time, so as to realize the real-time positional synchronization and anomaly detection between the physical equipment and the virtual model.

[0036] In step S200 above, the global pose data of the equipment group reconstructed in step S100 is used to extract key feature parameters of three types of instability. Through dynamic threshold adaptive updating and composite judgment logic, advanced identification and graded early warning of potential instability are achieved. In a preferred embodiment, the specific process of this step is as follows: The ideal position and ideal posture of each piece of equipment are predicted. The ideal position is used as a benchmark to determine whether the equipment has an abnormal deviation. Based on the boundary constraints of queue straightness, base perpendicular to the conveyor rail groove, and column perpendicular to the base plane, the ideal position and ideal posture of each piece of equipment under the current working conditions are predicted. The queue straightness principle requires that each piece of equipment in the equipment group be arranged in a straight line along the working surface without any misalignment. The base perpendicular to the conveyor rail groove principle requires that the base plane of the equipment be perpendicular to the conveyor rail groove to ensure the lateral stability of the equipment. The column perpendicular to the base plane principle requires that the extension and retraction direction of the column be perpendicular to the base plane to ensure uniform contact between the top beam and the top plate.

[0037] Based on the aforementioned boundary constraint principles, and considering the initial installation position of the equipment and the advancing distance of the working face, the ideal position and ideal attitude of each piece of equipment are calculated, expressed as follows: ,in, , , These represent the spatial coordinates of the equipment base in the X, Y, and Z axes of the global coordinate system under ideal conditions. Along the direction of advancement of the working face, Along the side of the working surface, Along the height direction, , , These are the pitch angle, roll angle, and yaw angle under ideal conditions.

[0038] The actual position parameters in the real-time full-state parameter matrix are compared with the ideal position parameters to calculate the lateral displacement deviation: ,in, To determine the current actual spatial coordinates of the equipment base in the X-axis direction, The lateral displacement deviation is the ideal spatial coordinate of the equipment along the X-axis. Used to reflect the degree of equipment deviation relative to the ideal position in the direction of advancement of the working face, when If the speed exceeds the preset range, it indicates that the equipment is at risk of slipping.

[0039] The actual roll angle in the real-time full-position parameter matrix is ​​compared with the ideal roll angle to calculate the roll angle deviation: ,in, The current actual roll angle of the equipment base. The ideal roll angle for the equipment, the roll angle deviation Used to reflect the degree of deviation of equipment from its ideal attitude in the lateral tilting direction, the sign of the roll angle deviation indicates the tilting direction, and the absolute value of the deviation indicates the severity of the tilt.

[0040] The actual yaw angle in the real-time full-state parameter matrix is ​​compared with the ideal yaw angle to calculate the yaw angle deviation: ,in, The current actual yaw angle of the equipment base. The ideal yaw angle for this equipment is the yaw angle deviation. It is used to reflect the degree of deviation of the equipment from its ideal posture in the direction of rotation within the horizontal plane.

[0041] Based on the above deviation calculation, a safety domain for the equipment's three-dimensional workspace is defined. The three-dimensional workspace security domain The boundary is determined by the geological conditions of the coal seam, the structural parameters of the equipment, and the safe distance between adjacent equipment. If any key point exceeds the boundary of the three-dimensional working space safety domain of the equipment, it indicates that the equipment is at risk of spatial interference with adjacent equipment or surrounding rock, which is a spatial boundary instability.

[0042] Based on the above three types of deviations and the safety domain constraint of the equipment's three-dimensional workspace, a composite instability critical threshold determination matrix is ​​constructed. The expression of the composite instability critical threshold determination matrix is: ,in, The dynamic threshold for roll angle. This is the dynamic threshold for lateral displacement. The dynamic threshold for yaw angle. To determine the three-dimensional coordinates of the equipment key points in the global coordinate system, This indicates that the coordinates of the key point exceed the predefined safety domain of the equipment's three-dimensional workspace, i.e., a spatial boundary breach has occurred.

[0043] Based on the judgment results of the composite instability critical threshold judgment matrix, the instability warning signal is divided into three levels. The first level is a Level 1 warning, which is determined when any single factor in the judgment matrix is ​​triggered, i.e., only the lateral displacement deviation exceeds the limit, only the roll angle deviation exceeds the limit, or only the yaw angle deviation exceeds the limit. At this time, the system issues a single warning signal for the corresponding type of instability, reminding the operator to pay attention to the corresponding type of instability trend of the equipment. The second level is a composite warning, which is determined when any two factors in the judgment matrix are triggered simultaneously. For example, if both the lateral displacement deviation and the roll angle deviation exceed the limit, it indicates that the equipment may be subjected to the coupled effects of sliding and tipping at the same time, and the risk level is significantly increased. The third level is a critical instability state, which is determined when any three factors are triggered simultaneously, or when the space boundary condition is met. At this time, the equipment is in an extremely dangerous state and requires immediate corrective intervention to avoid equipment tipping, sliding, or collision with adjacent equipment.

[0044] To address the poor adaptability of fixed thresholds under different operating conditions, a dynamic threshold update mechanism is introduced. Based on historical operational data of the equipment group and the current overall attitude change trend of the equipment group, the dynamic thresholds for various types of instability criteria are adjusted in real time. The dynamic threshold update formula is: ,in, For the first Instability criterion in The dynamic threshold at any given time. The values ​​correspond to three categories: tipping instability criterion, sliding instability criterion, and tail-wagging instability criterion. For the first The initial safety threshold for the instability criterion. For the first The attitude deviation corresponding to the instability criterion is The change in position relative to the previous moment reflects the velocity and acceleration trend of the equipment's attitude shift. For the first The threshold adjustment coefficient for the instability criterion typically ranges from 0.1 to 1.0.

[0045] In step S300 above, after the advanced warning signal is generated in step S200, the overall coordinated attitude adjustment of the equipment group is achieved through attitude compensation and driving force redistribution. In a preferred embodiment, the specific process of this step is as follows: Based on the target equipment number specified in the early warning signal generated in step S200, the unstable equipment is accurately located in the equipment group. At the same time, the equipment to the left and right of the unstable equipment is determined. Under the unified global coordinate system constructed in step S100, the coordinates of all key points of the unstable equipment and its left and right adjacent equipment are uniformly expressed in the same coordinate system using the full position parameter matrix and homogeneous transformation matrix of each equipment.

[0046] The pose parameters of the unstable equipment are compared with those of adjacent equipment to calculate the attitude deviation. , among which, For the first The pose parameters of the unstable equipment include its spatial coordinates and attitude angles. For the first The attitude parameters of adjacent equipment are used to describe the degree and direction of the difference in attitude between the unstable equipment and its adjacent equipment, providing a quantitative basis for subsequent attitude compensation calculations.

[0047] In this embodiment, the ideal attitude is dynamically generated based on the current actual attitude of adjacent equipment, wherein the ideal roll angle is expressed as the average value of the roll angles of adjacent supports: In the formula, For the first The ideal attitude angle of the unstable equipment in the roll direction. For the first The current roll angle of the equipment adjacent to the left of the unstable equipment. For the first The current roll angle of the adjacent equipment to the right of the unstable equipment. This dynamic ideal attitude generation method based on the coupling of adjacent equipment data makes the attitude adjustment of the entire equipment group a smooth and gradual group convergence process, rather than an abrupt adjustment for a single machine.

[0048] After determining the ideal attitude of the unstable equipment, the attitude deviation needs to be converted into a specific adjustment amount for the actuator. The adjustment amount of the side guard plate is calculated along the normal direction of the contact surface of the adjacent equipment side guard plate: , among which, This represents the amount of extension / retraction adjustment of the side guard plate in the normal direction; a positive value indicates extension and a negative value indicates retraction. To adjust the coefficients, satisfying , The center-to-center distance between the unstable equipment and the adjacent equipment is the horizontal distance between the center lines of the bases of the two pieces of equipment. For unstable equipment, the roll angle deviation.

[0049] Based on the warning level specified in the advanced warning signal generated in step S200, the weight of the thrust force allocation is determined. When the warning level is Level 1, the corrective force is mainly provided by the thrust mechanism of the unstable equipment itself, and the weight of the thrust force is determined accordingly. Take a larger value, 0.7-0.8, for the weight of the reaction force of adjacent equipment. Take the smaller value, 0.2-0.3. When the warning level is a composite warning, increase the intensity of adjacent frame coordination and the weight of its own thrust. Reduced to 0.5-0.6, the weight of the reaction force of adjacent equipment Increase to 0.4-0.5. When the warning level is at the critical instability state, adjacent frames need to provide the main reaction force support, with the weight of its own thrust force increasing. Reduced to 0.3-0.4, weight of reaction force of adjacent equipment Increasing it to 0.6-0.7, the two weighting coefficients always satisfy... 1. Ensure the total amount of adjustment force is conserved.

[0050] Based on the above weighting, calculate the total adjustment force required for the unstable equipment to adjust its attitude: ,in, For the first The overall adjustment capability of the unstable equipment in Taiwan. For the first The thrust generated by the self-moving jack of the unstable equipment on the platform For the first The coordinated pushing or reaction force exerted by the adjacent equipment to the right of the unstable equipment on this equipment, when multiple pieces of equipment adjust in coordination simultaneously, forms a closed force transmission chain within the equipment group, and the whole satisfies the mechanical equilibrium condition. That is, the resultant force of the adjustment forces of each piece of equipment is zero, ensuring that the equipment group as a whole does not undergo rigid body translation during the adjustment process.

[0051] To ensure a smooth and stable attitude adjustment process and avoid oscillations caused by large single-step adjustments, a group-coupled update mechanism is established. The group-coupled update formula is as follows: ,in, For the first After coordination and adjustment, Taiwan equipment is in The attitude parameters are updated at any given time, including roll angle or yaw angle. In this embodiment, roll angle is the primary update parameter. For the first Taiwan equipment The original attitude parameters at time 1. and The first Taiwan equipment on the left and right adjacent equipment The original attitude parameters at time 1. The convergence coefficient is . This is the ideal attitude correction coefficient, used to control the rate of convergence to the ideal attitude.

[0052] In step S400 above, the collaborative correction scheme is input into the digital twin model for virtual pre-simulation to verify whether the three-dimensional workspace of the adjusted equipment group meets the safety boundary constraints. In a preferred embodiment, the specific process of this step is as follows: Based on the updated attitude parameters of each piece of equipment and the adjusted extension / retraction of the actuators in the collaborative correction scheme generated in step S300, calculate the adjusted base attitude rotation matrix of each piece of equipment. and base translation vector , The updated pitch, roll, and yaw angles are calculated using the rotation matrix construction formula. Determined by the updated spatial coordinates.

[0053] Utilize the adjusted and Calculate the coordinates of each key point of each piece of equipment in the global coordinate system after adjustment: ,in, To adjust the 3D coordinates of this key point in the global coordinate system, Here are the coordinates of this key point in the equipment's local coordinate system. This is the adjusted rotation matrix. The adjusted translation vector is then used to correlate the calculated coordinates of each key point with the safety domain of the equipment's three-dimensional workspace. A comparison is performed to determine if the coordinates of all key points of all equipment are within the safe domain of the equipment's three-dimensional workspace after adjustment. If the virtual pre-simulation verification is successful and there is no spatial interference between the equipment, the verification is considered successful, and a verification success signal is generated. If any key point's coordinates exceed the equipment's three-dimensional workspace safety domain after adjustment, the verification is considered successful. If the distance between the key points of the two pieces of equipment is less than the preset safety distance, it indicates that the collaborative correction scheme may cause spatial interference or new attitude over-limits, and the virtual pre-simulation verification is deemed unsuccessful.

[0054] When the virtual pre-simulation verification fails, the system automatically returns to step S300 to re-optimize the side guard plate adjustment amount and the weight of the pushing force distribution. The specific strategy for iterative optimization is as follows: if the space exceeds the limit due to excessive side guard plate adjustment, the adjustment coefficient should be appropriately reduced. Alternatively, limit the maximum extension of the side guards. If the overall equipment shifts due to improper distribution of pushing force, adjust the weighting coefficient. and The ratio is determined, and after each iteration, the coordinate calculation and safety boundary verification of S400 are re-entered until all key points are within the safety domain of the equipment's three-dimensional workspace or the preset maximum number of iterations is reached.

[0055] Once the virtual pre-simulation verification is successful, the verified collaborative correction scheme is transformed into a sequence of control commands that can be executed by the electro-hydraulic control systems of each piece of equipment. The collaborative correction commands are then sent to the electro-hydraulic control systems of the unstable equipment and adjacent equipment through the downhole communication network, driving the columns, jacks and side plates of each piece of equipment to perform adjustment actions synchronously, ensuring that each piece of equipment moves collaboratively according to the preset timing and adjustment amount.

[0056] During and after the execution of the collaborative correction command, the adjusted pose data of each piece of equipment is collected in real time through step S100. The actual pose after adjustment is compared with the ideal pose, and the remaining deviation is calculated. If the remaining deviation exceeds the allowable error range, the adjusted pose data is used as the input for the next round. The process returns to step S200 to re-determine instability, step S300 to regenerate the collaborative correction scheme, and step S400 to perform virtual pre-simulation verification. This forms a complete iterative control process of perception, judgment, correction, pre-simulation, execution, feedback, and re-perception. This iteration continues until the pose deviation of all equipment converges to the allowable error range and the equipment group reaches a stable state.

[0057] In summary, this method is applied to the position and posture control of hydraulic support groups in underground coal mines. The equipment is a hydraulic support, and the equipment group is a hydraulic support group composed of multiple hydraulic supports arranged along the working face. For other types of engineering equipment groups, those skilled in the art can make adaptive adjustments and applications to the above method without departing from the technical principles of this invention.

[0058] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A method for coordinated pose correction control of equipment groups based on digital twins, characterized in that, The steps of this method are as follows: S100. Collect pose and force data through multi-source sensors deployed in the equipment group, construct a force and position perception model based on gravity-tilt effect, preprocess and spatiotemporally register the pose and force data, construct a full position parameter matrix representing the spatial position and attitude of the equipment, and map the full position parameter matrix to a digital twin model to achieve virtual-real synchronization. S200: Extract the characteristic parameters of tipping instability, glide instability and tail yaw instability, construct a composite instability critical threshold judgment matrix, compare the real-time full position parameter matrix with the ideal position data, calculate the lateral displacement deviation, roll angle deviation and yaw angle deviation, combine the boundary constraint principle of the three-dimensional workspace, determine the instability type, risk level and target equipment number of the equipment group, and generate an advanced early warning signal. S300. Using the aforementioned early warning signal as a trigger condition, locate the unstable equipment and its left and right adjacent equipment. Calculate the relative pose relationship between the unstable equipment and its adjacent equipment using a homogeneous transformation matrix. Generate a dynamic ideal pose based on the coupling of adjacent frame attitude data. Calculate the attitude compensation parameters and the dynamic allocation weight of the driving force to generate a collaborative correction scheme. S400. Input the collaborative correction scheme into the digital twin model for virtual pre-simulation, and verify whether the three-dimensional workspace of the adjusted equipment group meets the safety boundary constraints.

2. The equipment group pose collaborative correction control method based on digital twin as described in claim 1, characterized in that, In S100, the process of establishing the force and position sensing model based on the gravity-tilt effect is as follows: A homogeneous transformation matrix is ​​constructed using the base as a reference, and the position parameters and attitude angles are uniformly expressed as a full-state parameter matrix, which is: , where the matrix The rotation matrix is ​​composed of the attitude angles of the equipment base. Let be the translation vector, where , , These represent the spatial coordinates of the equipment base in the X, Y, and Z axes of the global coordinate system. It is a 3x5 matrix. It is a 1x3 matrix. This is the matrix transpose operation. Equipment operation parameter vector The column lengths are as follows: Length of attitude adjustment actuator Elongation of the movable side guard plate of the top beam Equipment guard plate jack elongation , extension of the jack ; The rotation matrix From pitch angle Roll angle and yaw angle The attitude angles are composed of: ,in, To determine the pitch angle of the equipment base relative to the direction of gravity, To determine the roll angle of the equipment base relative to the direction of gravity, The yaw angle of the equipment base relative to the direction of gravity; The equipment attitude angles are inversely calculated using the elements of the rotation matrix. The inverse solution for the equipment attitude angles is as follows: ,in, , , These are the elements in the 1st, 2nd, and 3rd rows and 3rd columns of the rotation matrix. , This refers to the element in the first row and second and first columns of the rotation matrix; Column length Length of attitude adjustment actuator As an active variable, a geometric closed-loop equation is established based on the kinematics of the series-parallel mechanism. ,in, The column length vector. Let this be the initial vector of the column in the equipment's local coordinate system. For matrix , For matrix ; Calculate the actual length of the column ,in, , , These are the unit vectors in the X, Y, and Z directions of the local coordinate system of the equipment, respectively. State estimation equations and observation equations are established, and adaptive Kalman filtering is introduced to dynamically filter the pose and force data. The state estimation equation is as follows: The observation equation is: ,in, The state vector of the equipment at time k includes the equipment's spatial coordinates, pitch angle α, roll angle β, yaw angle γ, and column length. Length of attitude adjustment actuator and the elongation of the jacks on each equipment guard plate , Let A be a vector composed of observations collected by multiple sensors at time k, including tilt sensors, displacement sensors, and pressure sensors. Let A be the system state transition matrix and B be the control input matrix. For equipment in The state vector at time t, H is the control input at time k-1, and H is the observation matrix. Let be the system noise vector. This is the observed noise vector.

3. The equipment group pose collaborative correction control method based on digital twin as described in claim 1, characterized in that, In step S100, the process of mapping the real-time full-state parameter matrix to the digital twin model is as follows: The coordinate transformation formula is used to convert the coordinates of any point in the local coordinate system of the equipment to the coordinates in the global coordinate system: In the formula, The coordinates are in the global coordinate system. To equip coordinates in the local coordinate system, For matrix , For matrix The matrix The rotation matrix is ​​composed of the attitude angles of the equipment base. Let be the translation vector, where , , These represent the spatial coordinates of the equipment base in the X, Y, and Z axes of the global coordinate system. This is the transpose operation of a matrix; The pose parameters of all equipment are converted into coordinates in the global coordinate system to construct a three-dimensional workspace data model of the equipment group. The three-dimensional workspace data model of the equipment group is synchronously mapped to the digital twin model.

4. The equipment group pose collaborative correction control method based on digital twin according to claim 1, characterized in that, In S200, the calculation process for lateral displacement deviation, roll angle deviation, and yaw angle deviation is as follows: Based on the boundary constraints of queue linearity, base perpendicular to the conveyor track groove, and column perpendicular to the base plane, the ideal position and ideal attitude of each piece of equipment are predicted. The ideal position and ideal attitude are expressed as follows: ,in , , These represent the spatial coordinates of the base in the X, Y, and Z axes of the global coordinate system under ideal conditions. , , These are the pitch angle, roll angle, and yaw angle of the equipment under ideal conditions; Calculate lateral displacement deviation Calculate the roll angle deviation Calculate the yaw angle deviation ,in, Indicates the current roll angle With ideal roll angle The difference, This represents the spatial coordinates of the equipment base in the X-axis direction in the global coordinate system. Compared to the ideal spatial coordinates of the base on the X-axis in the global coordinate system The difference, Indicates the current yaw angle With ideal yaw angle The difference.

5. The equipment group pose collaborative correction control method based on digital twin according to claim 1, characterized in that, In S200, the process for determining the instability type, risk level, and target equipment number of the equipment group is as follows: Based on the equipment's three-dimensional workspace safety domain Construct a composite instability critical threshold judgment matrix ,in, The dynamic threshold for roll angle. This is the dynamic threshold for lateral displacement. The dynamic threshold for yaw angle. This is the absolute value of the roll angle deviation. This refers to the absolute position deviation of the equipment in the X-axis direction of the global coordinate system. This represents the absolute value of the yaw angle deviation. This refers to the three-dimensional coordinate vector of the equipment key points in the global coordinate system. The warning levels of the advanced warning signals are classified according to the judgment results of the composite instability critical threshold judgment matrix: When any single factor is triggered, it is determined to be a Level 1 warning; When any two factors are triggered, it is determined to be a compound warning; When any three factors are triggered or the space exceeds the limit, it is determined to be a critical unstable state; A dynamic threshold update mechanism is introduced to correct the dynamic threshold based on historical operational data and the current overall attitude change trend of the equipment group. ,in, For the first Instability criterion in The dynamic threshold at any given time. For the first The initial safety thresholds for instability criteria include dynamic thresholds for roll angle, lateral displacement, and yaw angle. For the first The change in attitude deviation corresponding to the instability criterion. For the first Threshold adjustment coefficient for instability criteria.

6. The equipment group pose collaborative correction control method based on digital twin according to claim 1, characterized in that, In S300, the process of generating a dynamic ideal attitude based on the coupling of adjacent frame attitude data is as follows: Under a unified global coordinate system, the key point coordinates of the unstable equipment and its adjacent equipment are uniformly expressed by a homogeneous transformation matrix; Calculate the attitude deviation between the unstable equipment and adjacent equipment. ,in, For the first The position and orientation parameters of the unstable equipment. For the first The pose parameters of adjacent equipment; The dynamic ideal attitude is generated based on the coupling of adjacent frame attitude data. The roll angle ideal attitude is adopted by averaging the adjacent frames. The roll angle ideal attitude is as follows: ,in, For the first The ideal attitude angle of the unstable equipment in the roll direction. For the first The current roll angle of the equipment adjacent to the left of the unstable equipment. For the first The current roll angle of the equipment adjacent to the right side of the unstable equipment.

7. The equipment group pose collaborative correction control method based on digital twin according to claim 1, characterized in that, In S300, the process of calculating attitude compensation parameters is as follows: by determining the unit normal vector of the contact surface between adjacent equipment. Calculate the side guard plate adjustment amount along the unit normal vector direction. ,in, To adjust the coefficients and satisfy , The center distance between the unstable equipment and the adjacent equipment. This refers to the roll angle deviation of unstable equipment.

8. The equipment group pose collaborative correction control method based on digital twin according to claim 1, characterized in that, In S300, the process of calculating attitude compensation parameters and dynamic allocation weights of driving force to generate a cooperative correction scheme is as follows: The thrust allocation weight is determined based on the warning level of the advanced warning signal. and And satisfy Calculate the overall adjustment force of the unstable equipment: ,in, For the first The overall adjustment capability of the unstable equipment in Taiwan. For the first The pushing force generated by the unstable equipment pushing mechanism of the platform For the first The coordinated pushing or reaction force generated by the adjacent equipment to the right of the unstable equipment is used to establish a group coupling update mechanism to ensure smooth and stable attitude updates. The group coupling update formula is as follows: ,in, After coordinated adjustment, the first Updated attitude parameters of Taiwan equipment For the first The original attitude parameters of the equipment at the current moment. For the first The original attitude parameters of the equipment at the current moment. For the first The original attitude parameters of the equipment at the current moment. Let be the convergence coefficient, satisfying This is used to ensure smooth attitude updates. The ideal attitude correction coefficient. For the first The dynamic ideal attitude parameters of the equipment; Establish a group-coupled update mechanism: ,in, After coordinated adjustment, the first Updated attitude parameters of Taiwan equipment For the first The original attitude parameters of the equipment at the current moment. Let be the convergence coefficient, satisfying , The ideal attitude correction coefficient. and The first Taiwan equipment is currently adjacent to the equipment on the left and right. The original attitude parameters at time 1. For the first The dynamic ideal attitude parameters of the equipment.

9. The equipment group pose collaborative correction control method based on digital twin according to claim 1, characterized in that, In S400, the virtual pre-show process is as follows: The adjusted base attitude rotation matrix was calculated based on the collaborative correction scheme. and the adjusted base translation vector ; Calculate the coordinates of the key points of the equipment in the global coordinate system after adjustment, and determine whether the coordinates of the key points of the equipment after adjustment are located within the safe domain of the equipment's three-dimensional workspace. Inside; If spatial interference or a new attitude exceeds the limit, return to S300; When all key point coordinates are within the equipment's three-dimensional workspace safety domain If the result is within the specified range, the virtual pre-performance verification is deemed successful.

Images