A control method of an automatic righting system and an automatic righting system

Abstract

This application discloses a control method and an automatic alignment system, belonging to the fields of image communication and mining. The system includes a processor, a power supply component, and an image acquisition component. Specifically, when the alignment component corresponding to the automatic alignment system needs to update its alignment position, a first input is received; in response to the first input, the image acquisition component is activated and acquires a first image, which is an image within a preset range of the location of the image acquisition component; based on the first image, a first position and a target position of the alignment component corresponding to the automatic alignment system are confirmed, and positional difference data between the first position and the target position is obtained, where the first position is the actual position corresponding to the alignment component, and the target position is the updated alignment position of the alignment component; based on the positional difference data, the alignment component is triggered to move to the target position, and the alignment object of the alignment component is aligned and extended to the target position.

Description

Technical Field

[0001] This application belongs to the fields of image communication and mining, and specifically relates to a control method and an automatic straightening system. Background Technology

[0002] Mineral resources, as core raw materials for industrial production and infrastructure construction, directly impact the development of related industries through their extraction efficiency and safety. With the continuous growth of global demand for mineral resources, the scale, efficiency, and safety of mining operations have become core demands for industry development. Mining equipment, as the core tool for mineral extraction, plays a decisive role in the extraction results through its performance and functional design. Currently, existing mining equipment can be mainly divided into the following categories based on the mining scenario and operation method: First, traditional mechanical mining equipment, including rock drills, crushers, loaders, and mining trucks. This type of equipment relies on manual on-site operation or semi-automatic control and is the mainstream equipment in the current mineral extraction field, widely used in various mining scenarios such as open-pit mines and underground mines; Second, hydraulic mining equipment, which cuts ore using the pressure of water flow.

[0003] In related technologies, during the use of mining equipment, tunnels are often set up below the ground. The distance between the tunnel and the ore is within a preset range. At certain locations in the tunnel, there are openings for coal mining. In addition, mining equipment is installed in the tunnel. The mining equipment extends into the openings and uses mechanical or hydraulic power to mine the coal.

[0004] However, before mining equipment can be extended into the mine entrance, human intervention is often required in the tunnels, which are usually tens of meters below the ground and located in the core of the coal mine. This can pose certain safety issues and significantly increase mining costs. Summary of the Invention

[0005] The purpose of this application is to provide a control method and an automatic straightening system, which can solve the problems that may exist due to the need for human intervention in the roadway, as well as the problem that will significantly increase mining costs.

[0006] To solve the above-mentioned technical problems, this application is implemented as follows:

[0007] In a first aspect, embodiments of this application provide a control method for an automatic straightening system, the system comprising:

[0008] Processor, power supply unit, image acquisition unit;

[0009] When the alignment component corresponding to the automatic alignment system needs to update its alignment position, the first input is received.

[0010] In response to the first input, the image acquisition component is activated and a first image is acquired, wherein the first image is an image within a preset range of the location of the image acquisition component;

[0011] The first position and target position of the straightening component are confirmed based on the first image, and the position difference data between the first position and the target position are obtained. The first position is the actual position corresponding to the straightening component, and the target position is the updated alignment position of the straightening component.

[0012] Based on the position difference data, the straightening component is triggered to move to the target position, and the straightening object of the straightening component is aligned and extended to the target position.

[0013] Secondly, embodiments of this application provide an automatic uprighting system, which is applied to the system of the first aspect, the method comprising:

[0014] The processor is used to receive the first input;

[0015] In response to the first input, the processor triggers the image acquisition component to start and acquire the first image;

[0016] The processor determines the first position and target position of the automatic straightening system corresponding to the straightening component based on the first image, and obtains the positional difference between the first position and the target position. The first position is the actual position corresponding to the straightening component, and the target position is the position of the hole in the straightening component.

[0017] The processor triggers the straightening component to move to the target position based on the position difference.

[0018] Thirdly, embodiments of this application provide an electronic device including a processor, a memory, and a program or instructions stored in the memory and executable on the processor, wherein the program or instructions, when executed by the processor, implement the steps of the method described in the second aspect.

[0019] Fourthly, embodiments of this application provide a readable storage medium on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the second aspect.

[0020] Fifthly, embodiments of this application provide a chip, the chip including a processor and a communication interface, the communication interface being coupled to the processor, the processor being used to run programs or instructions to implement the method as described in the second aspect.

[0021] In this embodiment, the automatic alignment system includes a processor, a power supply component, and an image acquisition component. Specifically, when the alignment component in the automatic alignment system updates its alignment position, it receives a first input. Then, in response to the first input, it activates the image acquisition component and acquires an image within a preset range at the location of the image acquisition component as a first image. Next, based on the first image, it confirms the first position of the alignment component and the target position within the first image, and obtains positional difference data between the first position and the target position (the first position is the actual position corresponding to the alignment component, and the target position is the updated alignment position of the alignment component). Finally, based on the positional difference data, it triggers the alignment component to move to the target position, aligns the alignment object of the alignment component with the target position, and extends to the target position. Thus, during the alignment process of the automatic alignment system underground, no human intervention is required; the alignment operation is directly automated, which significantly improves accuracy. Attached Figure Description

[0022] Figure 1 This is a flowchart of the control method for the automatic straightening system provided in the embodiments of this application;

[0023] Figure 2 This is a diagram illustrating a visualized liquid mining system provided in an embodiment of this application;

[0024] Figure 3 This is a visual overall system diagram of liquid mining provided in the embodiments of this application;

[0025] Figure 4 This is a schematic diagram of the automatic straightening system provided in the embodiments of this application. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0027] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0028] The application scenarios of this application will be described below.

[0029] my country is a major resource-based country, possessing various mineral resources. Taking coal mines as an example, coal is a very important resource in my country. However, due to my country's vast territory and diverse geographical features and latitudes, the condition of coal mines varies. For instance, in the Yunnan-Guizhou region, many coal mines have steeply dipped coal seams with relatively low hardness, while in northern regions, flat coal seams are predominant, resulting in higher hardness.

[0030] For coal seams with low hardness, liquid flushing can be used to complete the mining process. Specifically, during mining, high-pressure equipment generates high-pressure liquid to impact the coal seam, thereby cutting and stripping it. This requires the equipment used in high-pressure cutting mines, such as the pipeline centralizer on a high-pressure cutting thruster, to automatically align and deliver the high-pressure liquid to the alignment device of the mining hole. However, since the work site is underground in a coal mine, there are many hazardous factors (such as high gas levels, collapses, and coal dust pollution). Manually completing this process using a pipeline-guided thruster presents numerous problems and is prone to causing mine accidents due to safety concerns. Furthermore, the need for manual alignment of the mining hole results in high labor costs and low efficiency, hindering the widespread application of this product.

[0031] Currently, this device is not yet used in underground coal mines, so its application directly affects the safety and efficiency of coal mining during steeply inclined coal seams.

[0032] In summary, there is an urgent need for an unmanned automatic alignment device for pipeline borehole thrusters in hydraulic mining at steep angles of coal mines. The control method and automatic alignment system provided in this application, compared to traditional mining methods and equipment, feature lower investment, concentrated technological advantages, and flexible and controllable technical equipment, enabling efficient and safe operation in the liquid impact mining process.

[0033] The control method of the automatic straightening system provided in this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] This application provides a control method for an automatic straightening system, which includes a processor, a power supply component, and an image acquisition component.

[0035] In the embodiments of this application, the above system includes various components, wherein the processor is used to process various data collected by the system and to coordinate the cooperation between the various components in the entire system.

[0036] In this embodiment, the power supply component is used to provide energy support for the automatic straightening system and its various mechanical components. Specifically, the power supply component can receive electrical energy via wired power; it can also convert other types of energy, such as diesel or gasoline, into electricity and supply power to the system; or it can provide energy through solar energy, light energy, or hydropower.

[0037] In this embodiment, the image acquisition component can be a single component or multiple components. The image acquisition image is used to acquire an image of the pre-set position of the straightening component.

[0038] The control method is as follows: Figure 1 As shown, it includes the following steps 101 to 104:

[0039] Step 101: When the alignment component of the above-mentioned automatic alignment system needs to update its alignment position, the automatic alignment system receives the first input.

[0040] In this embodiment of the application, the straightening component of the above-mentioned automatic straightening system is a mechanical component. The straightening component is generally a connector between the propulsion equipment and the mining component. Its function is to: 1. extend the mining component into the mine shaft in a preset direction; 2. transmit the high-pressure liquid input of the propulsion equipment.

[0041] For example, the mining component described above can be a liquid mining blade.

[0042] For example, the aforementioned propulsion equipment can be a propeller comprising a moving device, a high-pressure hose assembly, a winch assembly, and a control gripping assembly. Specifically, the moving device can be a tracked vehicle or other movable device. The high-pressure hose assembly is a high-pressure hose capable of withstanding high-pressure liquid flow, often hundreds of meters in length, and capable of withstanding pressures between 50 MPa and 100 MPa. The winch assembly is used to house the high-pressure hose. The control gripping assembly is used to grip and control the position and direction of the high-pressure hose, ensuring a stable connection between the high-pressure hose and the centering assembly. Generally, the high-pressure hose assembly, winch assembly, and control gripping assembly are positioned above the moving device, which can then support the movement.

[0043] Furthermore, the aforementioned automatic righting system and propulsion equipment are connected to underground and above-ground computer control systems, allowing ground personnel to remotely control the automatic righting system and propulsion equipment.

[0044] Understandably, mineral resources are often located deep underground. Generally, mine shafts are first constructed, and tunnels are set up within the shafts. Mining equipment is installed in the tunnels, and mining shafts are constructed within these tunnels. Typically, the initial mining shafts have a small diameter, large enough to accommodate the aforementioned centralizing components and the drilling components connected to them. Once the centralizing components and drilling components are in place, the mining equipment is activated, and high-pressure impact fluid is input. This high-pressure impact fluid can then flush the mineral resources out of the mining shaft and expand its diameter.

[0045] In one example, the aforementioned control gripping component can control the high-pressure hose in multiple different directions and positions. For instance, in three-dimensional space, the control gripping component can consist of multiple control gripping sub-components in different directions, each with a different control direction. Assuming it includes two control gripping sub-components, namely a first control gripping sub-component and a second control gripping sub-component, the first control gripping sub-component can be used to adjust the position of the high-pressure hose on the XY plane, and the second control gripping sub-component can be used to adjust the position of the high-pressure hose in the Z direction (height direction).

[0046] Furthermore, in practical applications, the diameter of mine tunnel openings is often small. Taking coal mines as an example, during the mining process, a small tunnel size is pre-set at the location of the coal mine, allowing the drilling equipment to extend into it. After the drilling equipment extends into the tunnel, it knocks down the coal and expands the internal tunnel size. Therefore, a connector is needed that can support the drilling equipment to extend into the tunnel in a predetermined direction, and that connects the drilling equipment and the propulsion equipment, allowing high-pressure liquid to be transmitted from the high-pressure pipeline connected to the propulsion equipment to the drilling equipment. This connector is the centering component.

[0047] For example, the need to update the alignment position of the above-mentioned straightening component means that the mine location that the straightening component needs to be aligned with in the tunnel changes, and the straightening component needs to be realigned to carry the mining cutter equipment used for mining to the new mine location.

[0048] For example, the first input mentioned above can be information input or audio-visual information input.

[0049] In one embodiment, the above-mentioned information input can be transmitted wirelessly or via wired means.

[0050] In another embodiment, the audio-visual information can be transmitted by means of different flashing frequencies of light, or by means of different frequencies of sound, or by means of different frequencies of sound and different flashing frequencies of light.

[0051] Step 102: In response to the first input mentioned above, start the image acquisition component and acquire the first image.

[0052] In this embodiment of the application, the first image is an image within a preset range of the location of the image acquisition component.

[0053] For example, the first image mentioned above can be a two-dimensional image or a three-dimensional image containing all data in the mine (including mine tunnel data).

[0054] For example, in order to ensure clarity and image quality, the image acquisition component described above acquires images within a preset range, which is determined based on the camera parameters of the image acquisition component.

[0055] In one instance, the automatic alignment system can determine the preset acquisition range of its content based on different camera parameters of the image acquisition component.

[0056] For example, the image acquisition component is generally set at a predetermined position on the mechanical equipment corresponding to the automatic straightening system, such as the adjacent position of the straightening component of the automatic straightening system on the side away from the cutting tool.

[0057] Understandably, after the image acquisition component acquires the image, it can determine the direction of movement and the path of travel based on the final target location in the image and the predetermined position of the mechanical equipment where the image acquisition component is located. For example, based on the location of the mine (target location), the position of the thruster of the alignment component itself, as well as its direction and distance relative to the mine, are determined, and then the path is determined, and the component moves in that direction to complete the alignment operation with the mine or the alignment component on the mine.

[0058] For example, the image acquisition component described above can be connected to a ground-based computer control system via wired or wireless transmission, and can transmit the acquired images to the ground-based computer control system.

[0059] For example, the image acquisition component described above can acquire and capture images, or it can monitor real-time image information of the environment in which the image acquisition component is located. Using the acquired images and / or real-time image information, the direction and distance to the target location can be determined, and thus the path to that location can be determined.

[0060] Step 103: Confirm the first position and target position of the above-mentioned straightening component based on the first image, and obtain the positional difference data between the first position and the target position.

[0061] In this embodiment of the application, the first position is the actual position corresponding to the straightening component, and the target position is the location of the mine.

[0062] It is understandable that by using the aforementioned first position, combined with the camera parameters and the position of the image acquisition component, the distance difference between the first position and the target position, the obstacles between the first position and the target position, the direction of the current position of the straightening component, and the direction that should be adjusted relative to the target position can be determined, thus confirming the path and direction of the straightening component to the target position.

[0063] Furthermore, in the process of confirming the path and direction of the straightening component to the target location, the obstacles in the travel route can be identified based on the area occupied by the mechanical equipment to which the straightening component belongs and the first image. The obstacles that the mechanical equipment to which the straightening component belongs should avoid during the travel can be identified, and the executable and forward path of the mechanical equipment to which the straightening component belongs can be planned.

[0064] In one instance, the aforementioned obstacle can be an object separate from the ground, such as a rock, or it can be a part that is integral with the ground and has a significant difference in flatness compared to the ground, such as a bump or depression on the ground.

[0065] Understandably, the identification of the aforementioned obstacles requires consideration of the mechanical parameters of the mechanical structure to which the straightening component belongs. For example, if the part of the mechanical structure to which the straightening component belongs that contacts the ground is a tracked vehicle, then it is necessary to determine the maximum size of ground protrusions or depressions that the tracked vehicle can withstand, or the maximum size of ground-separated obstacles that the tracked vehicle can withstand, based on the contact space between the tracked vehicle and the ground.

[0066] It should be noted that during the process of confirming obstacles, if the mechanical equipment to which the straightening component belongs does not need to move as a whole between the first position and the target position, but only needs the mechanical equipment to which the straightening component belongs to extend the straightening component to the target position, then the confirmed obstacle is different from the obstacle that requires the mechanical equipment to which the straightening component belongs to move as a whole to confirm.

[0067] It is understandable that, in the case where only the mechanical equipment of the straightening component needs to drive the straightening component to the target position, the obstacles that need to be identified are not only ground obstacles, but also all obstacles in the tunnel that may affect the movement of the straightening component.

[0068] In this embodiment of the application, the target location is the mine location closest to the current location.

[0069] Step 104: Based on the above position difference data, trigger the above straightening component to move to the above target position, and align and extend the straightening object of the above straightening component to the above target position.

[0070] In this embodiment of the application, as described above, the straightening component is connected to the propulsion device. Based on the aforementioned position difference data, the movement path can be determined, and the propulsion device and / or the moving device can move the straightening component to the target position.

[0071] Example 1: such as Figure 2 As shown, Figure 2 This is a partial schematic diagram of a coal mine with steeply dipped soft coal seams (steep dips ranging from 20° to 70°), showing the centralizing components and propulsion equipment. Specifically, Figure 2 The system includes a centering and alignment device 1, an image acquisition component 2, a tracked vehicle 3 (i.e., the aforementioned mobile device), a control component 4 (equivalent to the aforementioned second control gripping sub-component) for controlling the up-and-down movement of the thruster, a control component 5 (equivalent to the aforementioned first control gripping sub-component) for controlling the left-and-right movement of the thruster, a control component 6 for controlling the rotational movement of the thruster, a high-pressure hose centering device 7, a robotic arm 8 for the thruster, an image acquisition component 9, and a mineral layer 10, which has a diagonally extending mine shaft. The centering and alignment device 1 and the high-pressure hose centering device 7 are part of the aforementioned centering components. In a specific instance, when the alignment device 1 and the high-pressure hose alignment device 7 need to update their alignment positions, the operator receives a first input from the ground to the computer control system. In response to this first input, the image acquisition component 9 is activated and acquires a first image of the nearest mine shaft (equivalent to the target position) to the location of the image acquisition component 9. Based on the first image, the positional difference data between the first position of the alignment device 1 and the high-pressure hose alignment device 7 and the location of the nearest mine shaft (equivalent to the target position) is confirmed, including obstacles and distances between the first position and the location of the nearest mine shaft, and the forward path is determined based on the obstacles and distances. Based on the positional difference data, the alignment component is triggered to move to the location of the nearest mine shaft, and the alignment object of the alignment component is aligned and extended to the location of the nearest mine shaft.

[0072] In this embodiment, the automatic alignment system includes a processor, a power supply component, and an image acquisition component. Specifically, when the alignment component in the automatic alignment system updates its alignment position, it receives a first input. Then, in response to the first input, it activates the image acquisition component and acquires an image within a preset range at the location of the image acquisition component as a first image. Next, based on the first image, it confirms the first position of the alignment component and the target position within the first image, and obtains positional difference data between the first position and the target position (the first position is the actual position corresponding to the alignment component, and the target position is the updated alignment position of the alignment component). Finally, based on the positional difference data, it triggers the alignment component to move to the target position, aligns the alignment object of the alignment component with the target position, and extends to the target position. Thus, during the alignment process of the automatic alignment system underground, no human intervention is required; the alignment operation is directly automated, which significantly improves accuracy and safety.

[0073] Optionally, in this embodiment, the image acquisition component is installed in the mechanical equipment to which the automatic straightening system belongs. Since the environment where this mechanical equipment is located is often dimly lit, and the target location of the mining hole often requires multiple images for comparison and confirmation, the image acquisition component captures a set of images to facilitate the processor's confirmation of the target location. Therefore, in step 102 above, where the image acquisition component is activated and the first image is acquired, the control method of the automatic straightening system provided in this embodiment includes the following step 102A:

[0074] Step 102A: Trigger the above image acquisition component to start, and the above image acquisition component triggers the above mechanical equipment to move within a first preset angle range and acquire N first sub-images.

[0075] For example, the first image mentioned above includes N first sub-images, where N is a positive integer.

[0076] It is understandable that when the target location and the first location are far apart, a single first image cannot guarantee that it can cover both the target location and the first location at the same time. Therefore, a set of images can be taken and processed to form a complete image that can determine the distance difference between the target location and the first location.

[0077] For example, the image acquisition component is fixed at the adjacent part of the straightening component, and the straightening component is also connected to the propulsion device (i.e. the aforementioned mechanical device) and fixed on the propulsion device. As can be seen from the foregoing, the connection between the propulsion device and the straightening component has the function of adjusting the angle and range. Therefore, during the process of the image acquisition component taking a set of images, the position and angle of the entire straightening component can be adjusted by the propulsion device, thereby adjusting the position and angle of the image acquisition component.

[0078] Furthermore, in order to ensure the efficiency of the alignment component in aligning with the mine shaft, the aforementioned image acquisition component can also be aligned with the aforementioned alignment component in advance. After alignment, the alignment component is moved together to acquire images. After determining the location of the mine shaft, the positional difference between the first position and the current position is calculated, including distance difference, obstacles, etc., so as to confirm the path to the target location.

[0079] For example, the aforementioned first angular range contains at least one mine shaft.

[0080] The application process of the above image acquisition component will be introduced below through Examples 2 and 3. First, the overall environment of Examples 2 and 3 will be introduced.

[0081] like Figure 3 As shown, due to the harsh working environment and significant safety hazards in underground coal mines, the equipment avoids factors such as low efficiency, high safety risks, and low automation associated with manual operation. To ensure equipment reliability, an industrial-grade, intrinsically safe, explosion-proof 3D digital vision camera (equivalent to the aforementioned image acquisition component) is used. This camera not only enables spatial scanning but also provides real-time spatial modeling and distance detection. Specifically, the 3D digital vision camera is powered by an explosion-proof and intrinsically safe wide-range DC switching power supply. The input voltage of the power supply is AC 85V-AC 240V, and the output voltage is DC 8V-DC 26V. The output voltage supplies power to the camera, ensuring stable operation. This wide voltage range ensures reliable continuous operation even under unstable power supply conditions in underground coal mines. The camera's communication interface uses a 10 Gigabit TCP / IP Ethernet interface with the MODBUS TCP protocol, achieving a bandwidth of 10Gbps. Category 8 shielded twisted-pair cable is used to connect the camera to the underground programmable logic controller (PLC) control system (equivalent to an underground computer control system) through a high-speed switch (with a switching rate of up to 40Gb).

[0082] Understandably, the downhole PLC control system performs comprehensive processing and calculations on the position data transmitted from the camera, confirms the position difference data, and then converts the position difference data into hydraulic control signals for the thruster's robotic arm. The hydraulic controller then adjusts the up, down, left, and right movements of the thruster's (i.e., the aforementioned mechanical equipment) robotic arm to achieve angle alignment. This process results in the acquisition of a set of images (i.e., the aforementioned N first sub-images).

[0083] Meanwhile, a central control PC (equivalent to a surface-based computer control system) is installed above ground. This PC collects and controls all data from the aforementioned cameras and PLC control system underground. The specific connection method is as follows: a high-speed switch of the underground PLC control system is connected to an underground 10 Gigabit optical fiber switch (with a switching rate of up to 40Gb) via Category 8 shielded twisted-pair cable. The 10 Gigabit optical fiber switch transmits data from underground to the central control PC via single-mode fiber. The central control PC uses dedicated control software to monitor and control the underground equipment.

[0084] The aforementioned camera employs a wide-angle lens, facilitating the search for centralizers and alignment devices. It provides the widest possible viewing angle for these devices, typically covering a high-definition recognition range of 2cm to 50 meters. This maximizes its suitability for downhole operations. The device enables vertical, horizontal, and rotational control of the thruster's robotic arm, and its wide-angle lens provides 360° spatial coverage for image acquisition.

[0085] Furthermore, the wide-angle lens camera is mounted on a propeller carried by a hydraulic tracked vehicle, so it can be driven by the hydraulic tracked vehicle to move, achieving fully remote unmanned operation and adapting to inclined coal mining holes.

[0086] Example 2: When using a single camera (the image acquisition component described above), this single camera can be mounted on the robotic arm of the pusher. As mentioned earlier, the pusher itself is positioned above the tracked vehicle. In this example, the single camera needs to scan and acquire images at each fixed position on the robotic arm in a 360° motion to locate the centering device aligner 1. The camera contains a library of images, including library modeling data for centering devices aligning to the target. The target location is determined when the image acquired by the camera matches a centering device modeled in the library.

[0087] The entire process described above is shared and saved with the camera database through the PLC control system. The PLC control system stores the entire travel data of the images acquired by the camera. The entire scanning process is not just about reading two-dimensional data, but also includes three-dimensional spatial data modeling, ensuring that the camera scans and accurately determines the centering device throughout its entire process.

[0088] In this way, by connecting a single imaging component to the thruster, the location of the mine can be scanned, ultimately pinpointing its exact location and thus confirming the target position. Simultaneously, the underground and surface control systems work together to ensure smooth communication and precise control.

[0089] Optionally, in this embodiment, the image acquisition component includes a first image acquisition unit and a second image acquisition unit. The image acquisition component is installed in the mechanical equipment to which the automatic straightening system belongs. Since the environment where this mechanical equipment is located is often dimly lit, and the target location of the mining hole often requires multiple images for comparison and confirmation, in order to improve the accuracy of target location confirmation, the image acquisition component can use at least two image acquisition units, each capturing a set of images, so that the processor can confirm the target location. Therefore, in step 102 above, activating the image acquisition component and acquiring the first image, the control method of the automatic straightening system provided in this embodiment includes the following steps 102B1 and 102B2:

[0090] Step 102B1: Start the first image acquisition device, and the image acquisition component triggers the mechanical device to move within a second preset angle range and acquire M second sub-images.

[0091] Step 102B2: Start the second image acquisition device. The image acquisition component triggers the mechanical device to move within a third preset angle range and acquire P third sub-images.

[0092] For example, the second preset angle range and the third angle range may partially overlap or not overlap, and the first image includes M second sub-images and P third sub-images, where M and N are positive integers.

[0093] For example, the areas where the second preset angle range and the third preset angle range are located are angle ranges that can cover the location of at least one surrounding mine.

[0094] For example, after acquiring the above M second sub-images and P third sub-images, the location of the nearest available mine can be determined by processing and synthesizing the above M second sub-images and P third sub-images, and the straightening component can be triggered to drive the aforementioned cutting tool device to extend into it.

[0095] It should be noted that the first image acquisition device and the second image acquisition device mentioned above can be two image acquisition devices or more than two image acquisition devices, and this application does not limit them.

[0096] Example 3: Before introducing the steps of Example 3, let's first describe the specific cameras that the first and second image acquisition devices correspond to in Example 3.

[0097] Both the cameras of the first and second image acquisition devices mentioned above use 120° wide-angle lenses, which facilitates the search for the alignment device and allows for the search of the alignment device from the widest possible angle. It should be noted that... Figure 2The dashed lines shown do not represent the camera's angular range; they are merely for a more visual representation. Cameras #1 (2) and #2 (9) have a high-definition recognition range of 2cm to 50 meters, which is sufficient to meet the maximum requirements of underground working conditions.

[0098] Since the uprighting component where the camera is located is connected to the mechanical arm of the pusher, and the pusher mechanical arm can move up and down, left and right, and rotate, the above-mentioned camera 1#2 and camera 2#9 can cover 360° space.

[0099] Furthermore, this device enables the movement of hydraulically tracked vehicles, achieving fully remote unmanned operation and adapting to coal mining holes with steep inclinations. Simultaneously, during the movement of the tracked vehicle, cameras #1 (2) and #2 (9) scan the roadway structure in real time. The scan results are transmitted to the programmable logic controller (PLC) in real time. The PLC determines the spatial structure and triggers movement, turning, and reversing signals. During movement, the device can identify the surrounding environment in real time, prioritizing the capture of the centering device, thus achieving unmanned operation.

[0100] The specific implementation process of Example 3 is described below:

[0101] as follows Figure 2 As shown, Figure 2The system includes camera 2 (first image acquisition device) and camera 9 (second image acquisition device). When camera 1 or camera 2 enters area c or d, and the area scanned by camera 1 is segment b+d or the area scanned by camera 9 is segment a+c, whichever camera triggers the capture of the centering device 1 (i.e., the aforementioned centering component) will be prioritized for centering operation. During the centering operation, the dynamic changes of camera 1 and camera 2 are achieved by the movement of the tracked vehicle 3 (i.e., the aforementioned mobile device) to move the camera from far to near the centering device, ensuring that the optimal centering distance is maintained at 500mm-1000mm (this distance is the distance from the camera to the centering device, and the distance range is based on the vertical distance from the funnel edge of the centering device 1). For example, in the diagram, the pusher arm adjusts up and down to locate the centralizer aligner 1 in the mine shaft. When camera #2 scans area d, it identifies data resembling centralizer aligner 1 by comparing it with the database modeling data of camera #2. The programmable logic controller (PLC) receives a signal and triggers the pusher arm to move upward. Camera #2 continues scanning upward, comparing the data with the database modeling data in real time until camera #2 scans area c, completing one scanning cycle and acquiring the first image, confirming the location of the centralizer aligner. While camera #2 is scanning from area d to area c, camera #1 also passes through area d, begins scanning and recording comparison data. After camera #2 completes one scanning cycle, the PLC control system receives a signal and triggers the pusher arm to move upward again. The data scanned by camera #1 is compared with its real-time database until camera #1 scans area c, completing its scanning cycle and acquiring the first image, confirming the location of the centralizer aligner. The PLC system receives a notification that camera #1 has completed its scan. The entire process described above is shared and saved through the PLC control system and the camera database. The PLC control system stores the entire travel data of camera #1 and camera #2 from the edge of the centering device in zone d to the edge of zone c, especially the data of e+f. The entire scanning process is not just about reading two-dimensional data, but also includes three-dimensional spatial data modeling, to ensure that camera #1 and camera #2 scan the centering device and accurately determine its position throughout the entire process.

[0102] like Figure 2 The left and right adjustment mechanism of the middle thruster 2 is as follows: when camera 1 and camera 2 fail to find the mine (target position) during the maximum vertical adjustment stroke, the PLC control system controls the hydraulic rod to move left and right to search for the mine (target position) until the target object is found and then fine-tunes to achieve alignment.

[0103] In this way, by connecting multiple image components to the thruster, the location of the mine can be scanned, ultimately pinpointing its exact location and thus confirming the target position. Simultaneously, the underground and surface control systems work together to ensure smooth communication and precise control.

[0104] Optionally, in this embodiment of the application, in order to move the straightening component to the target position, it is necessary to accurately calculate the current position, that is, the accurate distance, direction, path, etc., between the first position and the target position. Therefore, the control method for the automatic straightening system provided in this embodiment of the application includes the following steps in step 103 above, including steps 103A1 and 103A2:

[0105] Step 103A1: The processor inputs the first image into the first image library of the automatic straightening system.

[0106] Step 103A2: The processor confirms the first position data corresponding to the first position, calculates the difference between the first position data and the target position data, and determines the position difference data.

[0107] For example, the first image library mentioned above includes the target location data mentioned above.

[0108] In one example, the target location data includes an image and / or three-dimensional dimensions of the target location, and / or geographic location data of the target location.

[0109] Example 4: Combining Examples 2 and 3 above, after obtaining the first image, the first position data and the target position data of the first image can be compared. Since the obtained image is a three-dimensional image, the position difference data can be determined by comparing the first position data and the target position data, and then the subsequent position and direction can be determined.

[0110] In this way, after obtaining the target location data through the first image, a precise comparison is made with the data of the current first location to accurately determine the subsequent forward path, ensuring the feasibility of automated alignment with the mine shaft and improving the safety of mining.

[0111] Optionally, in this embodiment, after determining the positional difference data, the straightening component needs to extend into the mine shaft where the target location is located before subsequent mining operations can be carried out. Therefore, in step 104 above, the control method of the automatic straightening system provided in this embodiment includes the following steps 104A1 and 104A2:

[0112] Step 104A1: Based on the above position difference data, confirm the preset movement path of the mechanical equipment to which the automatic straightening system belongs.

[0113] 104A2: Move the above-mentioned straightening component to the target position according to the preset movement path.

[0114] For example, the aforementioned preset movement path can be a path within the three-dimensional space obtained based on the aforementioned position difference data, allowing the mechanical equipment to reliably move to the mine location, i.e., the target location. For instance, it can be a path that avoids pits on the ground and obstacles that might cause instability or even overturning of the entire mechanical equipment, resulting in damage to the entire equipment.

[0115] It should be noted that the control method for the automatic straightening system provided in this application embodiment can be executed by the automatic straightening system, the mechanical equipment described in the automatic straightening system, or a control module in the automatic straightening system for executing the control method of the automatic straightening system. This application embodiment uses the execution of the control method of the automatic straightening system as an example to illustrate the automatic straightening system provided in this application embodiment.

[0116] Example 5: Combining with Example 2 above, spatial data is read by a camera to determine the center hole position of the pipe straightener. The camera data is transmitted to a programmable logic controller (PLC). The PLC determines that the alignment is correct based on the camera data, and the alignment process ends. The PLC then controls a pusher to move the pipe straightener to the alignment device. The pushing action moves the pipe straightener to the area to be worked on.

[0117] Example 6: Combining with Example 3 above, the center hole position of the pipe straightener is determined by using the spatial data of e+f read from cameras #1 and #2. The data from cameras #1 and #2 is transmitted to the programmable logic controller (PLC). The PLC determines that if the center point g of e and f obtained from cameras #1 and #2 is within a 2mm error range, the alignment data is considered normal. Alignment is complete. The PLC controls the pusher to push the pipe straightener 7, delivering it to the alignment device. The pushing action moves the pipe straightener 7 to the area to be worked on.

[0118] During this process, camera #1 and camera #2 serve as auxiliary functions for each other and can both operate independently, ensuring reliable operation in the harsh working environment of underground coal mines.

[0119] Figure 4 A possible structural diagram for implementing the automatic straightening system provided in the embodiments of this application. For example... Figure 4 As shown in the illustration, this application also provides an automatic uprighting system, which includes: a processor, a power supply, and an image acquisition component.

[0120] The processor is used to receive the first input;

[0121] In response to the first input, the processor triggers the image acquisition component to start and acquire the first image;

[0122] The processor determines the first position and target position of the straightening component based on the first image, and obtains the positional difference between the first position and the target position. The first position is the actual position corresponding to the straightening component, and the target position is the position of the hole in the straightening component.

[0123] The processor triggers the straightening component to move to the target position based on the position difference.

[0124] In one possible example, the image acquisition component is located in the mechanical equipment to which the automatic straightening system belongs, and the processor is specifically used for:

[0125] The image acquisition component is triggered to start, and the image acquisition component triggers the mechanical device to move within a first preset angle range and acquire N first sub-images, where the first image includes N first sub-images and N is a positive integer.

[0126] In one possible example, the image acquisition component includes a first image acquisition unit and a second image acquisition unit, the image acquisition component being disposed in the mechanical equipment to which the automatic straightening system belongs, and the processor described above is specifically used for:

[0127] The first image acquisition device is activated, and the image acquisition component triggers the mechanical device to move within a second preset angle range and acquire M second sub-images;

[0128] The second image acquisition device is activated, and the image acquisition component triggers the mechanical device to move within a third preset angle range and acquire P third sub-images;

[0129] The second preset angle range and the third angle range partially overlap, and the first image includes M second sub-images and P third sub-images, where M and N are positive integers.

[0130] In one possible example, the aforementioned processor is specifically used for:

[0131] The first image is input into the first image library of the automatic straightening system, the first image library including the target location data;

[0132] Confirm the first location data corresponding to the first location, calculate the difference between the first location data and the target location data, and determine the location difference data.

[0133] In one possible example, the aforementioned processor is specifically used for:

[0134] Based on the position difference data, the preset movement path of the mechanical equipment to which the automatic straightening system belongs is confirmed;

[0135] The straightening component is moved to the target position according to the preset movement path.

[0136] It should be noted that, as Figure 4 As shown, modules that must be included in an automatic straightening system are indicated by solid lines, such as the processor.

[0137] The automatic straightening system in this application embodiment can be a device, or a component, integrated circuit, or chip in a terminal.

[0138] The automatic uprighting system in this application embodiment can be a device with an operating system. This operating system can be Android, iOS, or other possible operating systems; this application embodiment does not specifically limit it.

[0139] The automatic straightening system provided in this application embodiment can achieve... Figures 1 to 3 The various processes implemented in the method implementation examples will not be described again here to avoid repetition.

[0140] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the control method embodiment of the above-described automatic straightening system, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0141] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0142] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0143] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0144] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A control method for an automatic straightening system, characterized in that, The system includes: a processor, a power supply component, and an image acquisition component; the method includes: When the alignment component corresponding to the automatic alignment system needs to update its alignment position, the first input is received. In response to the first input, the image acquisition component is activated and a first image is acquired, wherein the first image is an image within a preset range of the location of the image acquisition component; The first position and target position of the straightening component are confirmed based on the first image, and the position difference data between the first position and the target position are obtained. The first position is the actual position corresponding to the straightening component, and the target position is the updated alignment position of the straightening component. Based on the position difference data, the straightening component is triggered to move to the target position, and the straightening object of the straightening component is aligned and extended to the target position.

2. The method according to claim 1, characterized in that, The image acquisition component is installed in the mechanical equipment to which the automatic straightening system belongs. The step of activating the image acquisition component and acquiring the first image includes: The image acquisition component is triggered to start, and the image acquisition component triggers the mechanical device to move within a first preset angle range and acquire N first sub-images, where the first image includes N first sub-images and N is a positive integer.

3. The method according to claim 1, characterized in that, The image acquisition component includes a first image acquisition unit and a second image acquisition unit. The image acquisition component is installed in the mechanical equipment to which the automatic straightening system belongs. Activating the image acquisition component and acquiring the first image includes: The first image acquisition device is activated, and the image acquisition component triggers the mechanical device to move within a second preset angle range and acquire M second sub-images; The second image acquisition device is activated, and the image acquisition component triggers the mechanical device to move within a third preset angle range and acquire P third sub-images; The second preset angle range and the third angle range partially overlap, and the first image includes M second sub-images and P third sub-images, where M and N are positive integers.

4. The method according to claim 1, characterized in that, The step of confirming the first position and target position of the corresponding straightening component of the automatic straightening system based on the first image, and obtaining positional difference data between the first position and the target position, includes: The first image is input into the first image library of the automatic straightening system, the first image library including the target location data; Confirm the first location data corresponding to the first location, calculate the difference between the first location data and the target location data, and determine the location difference data.

5. The method according to claim 1, characterized in that, The step of triggering the straightening component to move to the target position based on the position difference data includes: Based on the position difference data, the preset movement path of the mechanical equipment to which the automatic straightening system belongs is confirmed; The straightening component is moved to the target position according to the preset movement path.

6. An automatic uprighting system, the system comprising: Processor, power supply, image acquisition components, characterized in that: The processor is used to receive the first input; In response to the first input, the processor triggers the image acquisition component to start and acquire the first image; The processor determines the first position and target position of the straightening component based on the first image, and obtains the positional difference between the first position and the target position. The first position is the actual position corresponding to the straightening component, and the target position is the position of the hole in the straightening component. The processor triggers the straightening component to move to the target position based on the position difference.

7. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the control method for the dynamic straightening system as described in any one of claims 1 to 5.

8. A computer program product, characterized in that, The computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program including programs or instructions that, when executed, implement the steps of the control method for the dynamic straightening system as described in any one of claims 1 to 5.

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