CN117189190A

CN117189190A - Inspection method, device and system for hydraulic support

Info

Publication number: CN117189190A
Application number: CN202311191916.5A
Authority: CN
Inventors: 庞大伟; 袁茵; 李亚林
Original assignee: Sany Intelligent Equipment Co ltd; Sany Heavy Equipment Co Ltd
Current assignee: Sany Intelligent Equipment Co ltd; Sany Heavy Equipment Co Ltd
Priority date: 2023-09-14
Filing date: 2023-09-14
Publication date: 2023-12-08

Abstract

The application provides a method, a device and a system for inspecting a hydraulic support, and relates to the technical field of intelligent inspection. The inspection method comprises the following steps: acquiring real-time state data information of a target hydraulic support; judging whether the target hydraulic support fails according to the real-time state data information; if the target hydraulic support fails, determining failure type information and failure occurrence position information of the target hydraulic support; generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information; the application can enable the inspection personnel to send out the alarm information corresponding to the fault type information and the fault occurrence position information according to the alarm device, thereby finishing inspection of the target hydraulic support.

Description

Inspection method, device and system for hydraulic support

Technical Field

The application relates to the technical field of intelligent inspection, in particular to an inspection method, an inspection device and an inspection system for a hydraulic support.

Background

The fully mechanized mining face is a complex working environment, and various potential safety risks and hidden hazards exist, such as harmful gases including gas, coal dust and the like, and dangerous factors including roof collapse and the like. These complex environments provide challenges for deployment and operation of sensors and automation equipment on a fully mechanized mining face, so that it is still difficult to inspect a hydraulic support on the fully mechanized mining face by fully relying on an intelligent technology, and therefore, at present, inspection of the hydraulic support cannot be completed in a manual inspection manner, and therefore, the combination of the intelligent equipment and manual inspection needs to be comprehensively considered.

Therefore, a method for assisting the inspector in inspecting the hydraulic rack is needed to realize more efficient, safer and more sustainable management of the hydraulic rack.

Disclosure of Invention

The application provides a method, a device and a system for inspecting a hydraulic support, which can assist inspection personnel to finish inspecting the hydraulic support.

In a first aspect, a method for inspecting a hydraulic support is provided, the method is applied to a terminal device, the terminal device is in wireless communication connection with an electrohydraulic controller of the hydraulic support, and the method for inspecting the hydraulic support comprises the following steps:

acquiring real-time state data information of a target hydraulic support; the real-time state data information is at least one of real-time running state information of the target hydraulic support, real-time working state information of a sensor positioned on the target hydraulic support and real-time control state information of a driver positioned on the target hydraulic support;

judging whether the target hydraulic support fails according to the real-time state data information;

if the target hydraulic support fails, determining failure type information and failure occurrence position information of the target hydraulic support;

and generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information.

Optionally, judging whether the target hydraulic support fails according to the real-time status data information includes:

determining whether the complexity of the real-time state data accords with a first preset condition or a second preset condition according to the complexity of the real-time state data information; the complexity is determined based on at least one of category information of the real-time status data information, a calculation amount of the real-time status data information;

if the complexity of the real-time state data information accords with the first preset condition, judging whether the target hydraulic support fails according to a comparison result between the preset threshold range and the real-time state data information;

if the complexity of the real-time state data information accords with the second preset condition, the real-time state data information is input into a pre-trained fault recognition model to determine whether the target hydraulic support fails.

Optionally, determining whether the target hydraulic support fails according to a comparison result between the preset threshold range and the real-time state data information includes:

acquiring historical state data information of each hydraulic support on a target working surface; the historical state data information is state data information of the hydraulic support in a normal operation state; the state data information comprises historical running state information of the hydraulic support, historical working state information of a sensor positioned on the hydraulic support and historical control state information of a driver positioned on the hydraulic support;

Determining a preset threshold range according to fluctuation information corresponding to the historical state data information; the fluctuation information includes a boundary value of the history state data information within the target period;

and comparing the preset threshold range with the real-time state data information, and if the real-time state data information is not in the preset threshold range, determining that the target hydraulic support fails.

Optionally, the fault identification model is used for judging whether the target hydraulic support breaks down according to the real-time state data information and determining fault occurrence position information and fault type information of the target hydraulic support; the fault identification model is obtained by training historical state data information of the hydraulic support; accordingly, determining fault type information and fault occurrence position information of the target hydraulic support includes:

acquiring a fault identification model in a server of a centralized control center;

inputting the real-time state data information into a fault identification model to obtain fault type information of the target hydraulic support;

and determining fault occurrence position information corresponding to the fault type information according to the fault type information of the target hydraulic support.

Acquiring coal mine operation information in a server of an underground centralized control center; the coal mine operation information comprises real environment information of a target hydraulic support and action information to be executed of the target hydraulic support;

according to the real-time state data information, determining the prediction environment information which can be adapted to the target hydraulic support and the current execution action information;

and respectively comparing the predicted environment information with the real environment information, and the current execution action information with the action information to be executed, and judging whether the target hydraulic support fails.

In a second aspect, a method for inspecting a hydraulic support is provided, the method is applied to an electrohydraulic controller of the hydraulic support, the electrohydraulic controller of the hydraulic support is in wireless communication connection with a terminal device, and the method for inspecting the hydraulic support comprises the following steps:

the method comprises the steps of collecting real-time running state information of a target hydraulic support and real-time working state information of a sensor through the sensor on the target hydraulic support, and obtaining real-time control state information through monitoring a driver on the target hydraulic support;

and the real-time running state information, the real-time working state information and the real-time control state information are used as real-time state data information and are sent to the terminal equipment, so that the terminal equipment judges whether the target hydraulic support fails according to the real-time state data information, and the terminal equipment judges whether the target hydraulic support fails according to the real-time state data information.

In a third aspect, a hydraulic support inspection device is provided, and the inspection device is located on a terminal device, and the terminal device is in wireless communication connection with an electrohydraulic controller of the hydraulic support, and the device comprises:

the state data information acquisition module is used for acquiring real-time state data information of the target hydraulic support; the real-time state data information is at least one of real-time running state information of the target hydraulic support, real-time working state information of a sensor positioned on the target hydraulic support and real-time control state information of a driver positioned on the target hydraulic support;

the fault judging module is used for judging whether the target hydraulic support breaks down according to the real-time state data information;

the fault identification module is used for determining fault type information and fault occurrence position information of the target hydraulic support if the target hydraulic support breaks down;

and the alarm information generation module is used for generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information so as to enable the alarm device to alarm according to the alarm information.

Fourth aspect provides a hydraulic support's inspection device, is located hydraulic support's electrohydraulic controller, hydraulic support's electrohydraulic controller and terminal equipment wireless communication connection, and inspection device includes:

The information acquisition module is used for acquiring real-time running state information of the target hydraulic support and real-time working state information of the sensor through a sensor on the target hydraulic support and acquiring real-time control state information through monitoring a driver on the target hydraulic support;

and the information sending module is used for taking the real-time running state information, the real-time working state information and the real-time control state information as real-time state data information and sending the real-time running state information, the real-time working state information and the real-time control state information to the terminal equipment so that the terminal equipment can judge whether the target hydraulic support fails according to the real-time state data information.

According to a fifth aspect of the present invention, a terminal device includes:

the system comprises a first processor and a first memory, wherein the first memory is used for storing a computer program, and the first processor is used for calling and running the computer program stored in the first memory so as to execute the method of the first aspect.

An electro-hydraulic controller for a hydraulic mount according to an embodiment of a sixth aspect of the present invention includes:

the second processor is used for calling and running the computer program stored in the second memory so as to execute the method of the second aspect.

According to a seventh aspect of the present application there is provided a computer readable storage medium storing a computer program for causing a computer to perform the method of any one of the first aspects as described above.

According to an eighth aspect of the present application a computer program product comprising instructions which, when run on a controller, cause the controller to perform the method of the second aspect described above.

According to a ninth aspect of the application, a hydraulic bracket inspection system includes: the data collection device, at least one terminal device as described above, and an electro-hydraulic controller of the hydraulic support as described above.

According to the technical scheme provided by the application, the terminal equipment is in wireless communication connection with the electrohydraulic controller of the target hydraulic support through the Bluetooth module, so that real-time state data information of the target hydraulic support is obtained; analyzing the real-time state data information of the target hydraulic support, determining and judging whether the target hydraulic support fails, and determining the failure type information and the failure occurrence position information of the target hydraulic support after determining that the target hydraulic support fails; and finally, generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information, and a patrol inspector can complete patrol inspection of the target hydraulic support according to the alarm information.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is an application scenario diagram of an embodiment provided by an embodiment of the present application;

fig. 2 is a flowchart of a method for inspecting a hydraulic support according to an embodiment of the present application;

fig. 3 is a flowchart of another inspection method for a hydraulic support according to an embodiment of the present application;

fig. 4 is a schematic diagram of an inspection device for a hydraulic support according to an embodiment of the present application;

fig. 5 is a schematic diagram of an inspection device for another hydraulic support according to an embodiment of the present application;

fig. 6 is a schematic block diagram of a terminal device according to an embodiment of the present application.

Detailed Description

The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed or inherent to such process, method, article, or apparatus, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

As described above, the fully mechanized coal mining face is a complex working environment, and various potential safety risks and hidden hazards exist, such as harmful gases including gas, coal dust and the like, and dangerous factors including roof slump and the like. These complex environments present challenges for the deployment and operation of sensors and automation equipment, making inspection of fully mechanized coal faces entirely dependent on intelligent technology still difficult. Meanwhile, the current intelligent technology still has certain limitations in the aspects of sensing, positioning, judging, deciding and the like. For example, in a narrow space below the coal mine face, difficulties in signal transmission and communication may exist, resulting in the stability and reliability of the intelligent device being compromised. In addition, manual inspection operation of the hydraulic support can provide more direct and real-time safety monitoring, but inspection personnel need to comprehensively observe and evaluate the coal mine working face according to self experience and professional knowledge, and the inspection personnel need to timely find potential safety hazards and take corresponding measures to ensure the safety of miners.

In order to solve the technical problems, the application concept of the application is as follows: acquiring real-time state data information of a target hydraulic support; analyzing the real-time state data information of the target hydraulic support, determining and judging whether the target hydraulic support fails, and determining the failure type information and the failure occurrence position information of the target hydraulic support after determining that the target hydraulic support fails; and finally, generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information, and a patrol inspector can complete patrol inspection of the target hydraulic support according to the alarm information.

It should be understood that the technical solution of the present application can be applied to the following scenarios, but is not limited to:

in some implementations, fig. 1 is an application scenario diagram of an embodiment provided in the present application, as shown in fig. 1, where a hydraulic support inspection system may include a data collection device 110, an electrohydraulic controller 120 of the hydraulic support, and a terminal device 130. The terminal device 130 may establish a connection with the electro-hydraulic controller 120 and the data collection device 110, respectively, through a wired network or a wireless network.

The terminal device 130 may be, for example, a desktop computer, a notebook computer, a tablet computer, etc., but is not limited thereto, and may be other terminal devices or servers. In one embodiment of the present invention, the terminal device 130 may send a request message to the electro-hydraulic controller 120, where the request message may be used to request to obtain real-time status data information of the target hydraulic mount in the electro-hydraulic controller 120, and further, the electro-hydraulic controller 120 may receive a response message sent by the terminal device 130, where the response message includes the real-time status data information of the target hydraulic mount. In another embodiment of the present invention, the terminal device 130 may send a request message to the electro-hydraulic controller 120, where the request message may be used to request the electro-hydraulic controller 120 to collect real-time status data information of the target hydraulic mount through the data collection device 110, and the electro-hydraulic controller 120 performs data collection when receiving the request message.

Furthermore, fig. 1 illustrates one data collection device 110, one electro-hydraulic controller 120, and one terminal device 130, and in fact, other numbers of data collection devices 110 and terminal devices 130 may be included, as the invention is not limited in this regard.

After an application scenario of an embodiment provided by the present application is introduced, a technical solution of the present application will be described in detail below:

fig. 2 is a flowchart of a method for inspecting a hydraulic bracket according to an embodiment of the present application, which may be performed by the terminal device 130 shown in fig. 1, but is not limited thereto. Here, the terminal device is in wireless communication connection with the electrohydraulic controller of the hydraulic support through a bluetooth module, as shown in fig. 2, and the method comprises the following steps:

s210, acquiring real-time state data information of the target hydraulic support.

Here, the real-time status data information may be used to monitor and/or evaluate the real-time operational status and performance of the hydraulic mount; the real-time status data information is at least one of real-time running status information of the target hydraulic support itself, real-time working status information of a sensor located on the target hydraulic support, and real-time control status information of a driver located on the target hydraulic support.

The real-time running state information of the target hydraulic support can comprise temperature information, height information, stability information, supporting pressure information, action information, displacement information and lubricating system data information corresponding to the target hydraulic support in real time; the height information may be used to determine a support height range and a roof lift height of the target hydraulic mount; the stability information may be used to determine whether the target hydraulic bracket is in a stable state, and the stability information may include inclination information and dislocation information of the target hydraulic bracket; the support pressure information can be used for expressing the support force exerted by the target hydraulic support on the coal seam or the roof; the motion information is used for recording motion content information of the target hydraulic support, and the motion content information can comprise ascending, descending, advancing and retreating of the target hydraulic support; the displacement information can be used for recording the displacement information of the target hydraulic support in the horizontal or vertical direction and the swing condition information of the target hydraulic support; the lubrication system data information can be used for monitoring hydraulic oil temperature, hydraulic oil pressure, liquid level of the target bracket hydraulic pressure and working condition information of the lubrication system.

Here, the sensor located on the target hydraulic mount may include a pressure sensor, an inclination sensor, a stroke sensor, and an infrared sensor, and the real-time operation state information of the sensor located on the target hydraulic mount may include serial port data information or AD value information (analog to digital value) of the sensor port, calibration information, and analysis data information; the serial port data information or the AD value information is used for judging the access state of the sensor; the calibration information is used for judging whether the sensor is in a calibration state or not; the analysis data information is used for judging whether the detection result of the sensor is accurate.

The driver on the hydraulic support can comprise an electromagnetic valve driver, and the real-time control state information can be serial port data information and state signal information of the port; the serial port data information is used for judging the access state of the driver, and the state signal information is used for analyzing whether the driver works normally, whether overload or fault exists or not.

In this step, be equipped with the magnetism on the terminal equipment and inhale the structure, the structure is inhaled to the magnetism can be set up on the outside protective sheath of exemplary terminal equipment, terminal equipment can dismantle with the target hydraulic support through this magnetism and be connected, and after this terminal equipment is connected with the target hydraulic support, terminal equipment passes through bluetooth module and acquires the real-time state data information that the electrohydraulic controller of target hydraulic support gathered, this magnetism is inhaled the structure and is made terminal equipment easily fix on the suitable position of target hydraulic support, so that the personnel of patrolling and examining accomplish the patrolling and examining the target hydraulic support through this terminal equipment, can concentrate on the work of patrolling and examining for the personnel of patrolling and examining more in the process, and need not to worry about carrying and the use of this terminal equipment. Therefore, under the condition that the operation environment of the hydraulic support is complex and manual inspection cannot be completely avoided, the terminal equipment in the embodiment can be used for carrying out fault diagnosis on the target hydraulic support.

And S220, judging whether the target hydraulic support fails according to the real-time state data information.

In this step, an analysis rule for the real-time status data information may be preset on the terminal device, so that after the terminal device obtains the real-time status data information, the real-time status data is classified according to the analysis rule, so as to complete the judgment on whether the target hydraulic support fails. For example, the analysis rule may determine an analysis policy for the real-time status data information according to category information corresponding to the real-time status data information, where the category information includes real-time operation status information of the target hydraulic bracket itself, real-time operation status information of the sensor, and real-time control status information of the driver.

For example: when the category information corresponding to the real-time state data information is the real-time operation state information of the target hydraulic support, the real-time operation state information is temperature information, pressure information or displacement information, and the analysis strategy can be to monitor and analyze faults of the target hydraulic support in real time through a built-in algorithm or model on the terminal equipment; also for example: when the real-time state data information is the real-time working state information of the sensor on the target hydraulic support, the analysis strategy can be to compare the real-time working state information with the preset range data information, set a threshold corresponding to the preset range data information, and determine that the sensor on the target support fails when the real-time working state information exceeds or falls below the threshold.

And S230, if the target hydraulic support fails, determining the failure type information and the failure occurrence position information of the target hydraulic support.

In this step, after determining that the target hydraulic support fails, the failure type information and the failure occurrence position information of the target hydraulic support may be determined according to the abnormal condition corresponding to the real-time status data information. For example, the fault type information may include target hydraulic support fault information, sensor fault information, and driver fault information, and when the real-time operation state information of the target hydraulic support itself is abnormal, the fault information may be determined to be the target hydraulic support itself fault information, where if the height information in the real-time operation state information exceeds the normal range value, it may be determined that the lifting mechanism of the target hydraulic support is faulty, so the fault occurrence position information is the lifting mechanism.

S240, generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information.

In the step, the warning information corresponding to the target hydraulic support is generated according to the fault type information and the fault occurrence position information, so that the inspection personnel can be reminded of the fault of the target hydraulic support, and the inspection personnel can overhaul the target hydraulic support according to the fault type information and the fault occurrence position information. Here, the terminal device may further display a report of the maintenance advice for the target hydraulic support on a page according to the fault type information and the fault occurrence position information, so as to be referred to by the inspection personnel.

Here, the terminal device may send an alarm signal to the inspector through sound, vibration or other modes, so as to improve the efficiency of the inspector in inspecting the coal mine.

By adopting the method, firstly, the terminal equipment is in wireless communication connection with an electrohydraulic controller of the target hydraulic support through a Bluetooth module to acquire real-time state data information of the target hydraulic support; analyzing the real-time state data information of the target hydraulic support, determining and judging whether the target hydraulic support fails, and determining the failure type information and the failure occurrence position information of the target hydraulic support after determining that the target hydraulic support fails; and finally, generating alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information, and a patrol inspector can complete patrol inspection of the target hydraulic support according to the alarm information, thereby assisting the patrol inspector in completing patrol inspection of the hydraulic support.

In some possible embodiments, determining whether the target hydraulic support fails according to the real-time status data information may include the following steps:

s310, determining whether the complexity degree of the real-time state data accords with a first preset condition or a second preset condition according to the complexity degree of the real-time state data information.

Here, the complexity of the real-time status data information is determined based on at least one of the category information of the real-time status data information and the calculation amount of the real-time status data information.

Because the fault judgment of the target hydraulic support is based on the analysis of the real-time state data information, the real-time state data information has different complexity according to the different corresponding category information, for example: when the category information is real-time running state information of the target hydraulic support, the complexity of the real-time state data information is low, and the real-time state data information can be analyzed by combining the real-time state data information with a preset threshold range or the experience of a patrol personnel; also for example: when the real-time state data information cannot be analyzed through a preset threshold range or experience of a patrol personnel, namely the real-time state data information is relatively complex, if the real-time state data information is the real-time control state information of the driver, the analysis of the real-time control state information needs to be combined with the pressure information output by the pressure sensor and the input current and the output voltage corresponding to the driver, so that the complexity is higher when the real-time control state information is the real-time state data information, and a relatively complex analysis strategy is needed to be adopted for the analysis. Meanwhile, the calculated amount of the real-time state data information is related to the complexity of the real-time state data information, if the real-time state data information can be obtained by calculating the data information obtained by the sensor in a simple mode, namely, the calculated amount of the real-time state data information is small, the complexity of the real-time state data information can be determined to be low; if the real-time state data information is obtained by calculating the data information obtained by the sensor in a large number of complex calculation modes, that is, the calculation amount of the real-time state data information is large, the complexity of the real-time state data information can be determined to be high. If the complexity of the real-time state data information accords with the first preset condition, judging whether the target hydraulic support fails according to a comparison result between the preset threshold range and the real-time state data information; the preset analysis strategy further comprises the step of inputting the real-time state data information into a pre-trained fault recognition model to determine whether the target hydraulic support fails or not if the complexity degree of the real-time state data information meets a second preset condition.

In the step, the preset analysis strategy for analyzing the real-time state data information is determined according to the complexity of the real-time state data information, so that different real-time state data information can be analyzed, and different preset analysis strategies are determined, so that various real-time state data information can be analyzed rapidly and accurately.

And S320, if the complexity of the real-time state data information accords with the first preset condition, judging whether the target hydraulic support fails according to a comparison result between the preset threshold range and the real-time state data information.

S330, if the complexity of the real-time state data information accords with the second preset condition, inputting the real-time state data information into a pre-trained fault recognition model to determine whether the target hydraulic support fails.

It should be noted that the first preset condition, the second preset condition, the preset threshold range and the pre-trained fault recognition model are all built in the terminal device. Here, the first preset condition may be a degree to which the real-time status data information can be analyzed by comparison with the preset threshold range, and the second preset condition may be a degree to which the real-time status data information cannot be analyzed by comparison with the preset threshold range.

In addition, the terminal device in the embodiment can record the operation and control result of the target hydraulic support in the inspection process, the inspection personnel can input the feedback information related to the inspection of the target hydraulic support on the terminal device, the feedback information can be the fault judgment result of the target hydraulic support and the control result of the target hydraulic support, and the feedback information is beneficial to the fault judgment of the terminal device on the target hydraulic support and the subsequent maintenance work of the maintenance personnel on the target hydraulic support, and meanwhile, the data analysis and decision support of the hydraulic support can be provided for the coal mine manager.

It should be noted that, in this embodiment, the fault determination of the terminal device on the target hydraulic support is based on the real-time status data information, but the final determination result still needs to be confirmed and processed by experience and expertise of the inspection personnel. Therefore, the terminal equipment is used as an auxiliary tool, so that the inspection personnel can be helped to discover potential faults more quickly and provide early warning, and the inspection efficiency and precision are improved.

By adopting the method, the preset analysis strategy for analyzing the real-time state data information is determined according to the complexity of the real-time state data information, and then the real-time state data information is analyzed according to the preset analysis strategy, so that whether the target hydraulic support fails or not is determined, and the rapid and accurate analysis of various real-time state data information is realized.

Further, determining whether the target hydraulic support fails according to a comparison result between the preset threshold range and the real-time state data information may include the following steps:

s410, historical state data information of each hydraulic support located on the target working surface is acquired.

Here, the historical state data information is state data information of the hydraulic support in a normal operation state; the status data information includes historical operating status information of the hydraulic mount itself, historical operating status information of sensors located on the hydraulic mount, and historical control status information of drivers located on the hydraulic mount.

In this step, historical state data information of each hydraulic bracket located on the target working surface is pulled from a server of the underground centralized control center. Here, the historical state data information is obtained by periodically or continuously monitoring the hydraulic support in the normal operation state, and may be understood as the historical operation state information of the hydraulic support itself, the historical operation state information of the sensor located on the hydraulic support, and the historical control state information of the driver located on the hydraulic support, which are obtained by periodically or continuously monitoring the hydraulic support itself, the sensor located on the hydraulic support, and the driver located on the hydraulic support.

S420, determining a preset threshold range according to fluctuation information corresponding to the historical state data information.

Here, the fluctuation information includes a boundary value of the history state data information within the target period.

The fluctuation information corresponding to the historical state data information is a range value of a change interval of the historical state data information obtained by analyzing a change trend of the historical state data information corresponding to the target time period, where the range value of the change interval may be a boundary value of the historical state data information in the target time period.

S430, comparing the real-time state data information with the preset threshold range, and if the real-time state data information is not in the preset threshold range, determining that the target hydraulic support fails.

The method includes the steps that when real-time state data information is real-time working state information of a pressure sensor, the real-time working state information comprises pressure information, and if the pressure information is not in a preset threshold range, a target hydraulic support is determined to be faulty; because, here, because the pressure information of the target hydraulic bracket is abnormal, it can be determined that the solenoid valve passage of the corresponding pillar of the target hydraulic bracket is malfunctioning, the solenoid valve passage of the corresponding pillar of the hydraulic bracket is detected by the target to see whether the pillar pressure is overrun because the solenoid valve passage of the pillar of the target hydraulic bracket cannot be correctly opened and closed. The electromagnetic valve channel is always opened, so that the target hydraulic support can always execute lifting action, and the pressure information of the target hydraulic support can always be in overrun; if the solenoid valve passage is not opened all the time, the lifting action of the target hydraulic bracket may not be performed, and the pressure information is always lower than the lower limit.

For another example, when the real-time status data information is real-time working status information of the tilt sensor, the real-time working status information includes tilt information of the target hydraulic support, where whether the tilt angle of the target hydraulic support is abnormal is determined by analyzing whether the tilt angle information is within a preset threshold range, and if the tilt angle is abnormal, the terminal device in the embodiment may suggest that the inspection personnel check whether the installation position of the tilt sensor is correct, and reinstallation or replacement of the tilt sensor may be required.

When the real-time state data information is real-time working state information of the infrared sensor, the real-time working state information comprises distance information output by the infrared sensor, and whether the infrared sensor is abnormal or not is judged by analyzing whether the distance information is not in a preset threshold range or not. If the distance information detected by the infrared sensor shows frequent abnormal jump values, the terminal equipment can recommend to replace the sensor or check whether the fully mechanized mining face has an infrared interference source.

When the real-time state data information is real-time control state information of the driver positioned on the target hydraulic support, the real-time control state information can comprise state signal information, the state signal information comprises input current and output voltage, and whether the driver works normally or not is analyzed through the input current and the output voltage, and whether overload or fault and other conditions exist or not. If the driver detects that the electromagnetic valve of a certain channel cannot be opened and closed correctly, the terminal equipment can recommend inspection personnel to check or replace the valve group; if a malfunction is detected, the terminal device may recommend that the inspector check whether the configuration of the valve block channel is correct, and recommend that the valve block be reconfigured or installed.

By adopting the method, the historical state data information of each hydraulic support on the target working surface is obtained, the preset threshold range is determined according to the fluctuation information corresponding to the historical state data information, the preset threshold range is compared with the real-time state data information, if the real-time state data information is larger than or smaller than the preset threshold range, the target hydraulic support is determined to be faulty, and fault judgment on the real-time state data information with the complexity meeting the first preset condition can be realized.

In some possible embodiments, the fault identification model is configured to determine whether the target hydraulic support fails according to the real-time status data information, and determine fault occurrence location information and fault type information of the target hydraulic support; the fault recognition model is obtained through training historical state data information of the hydraulic support.

Accordingly, determining the fault type information and the fault occurrence position information of the target hydraulic bracket may include the steps of:

s510, acquiring a fault identification model in a server of the centralized control center.

The fault recognition model is trained in advance in a server of the centralized control center, and the training process of the fault recognition model is as follows: acquiring historical state data information of each hydraulic support on a working surface; and training the fault recognition model by utilizing the historical state data information to obtain a pre-trained fault recognition model.

In this step, the server of the centralized control center may be connected to the terminal device through wifi in a wireless communication manner, so that the terminal device may pull the fault identification model from the centralized control center.

S520, inputting the real-time state data information into a fault identification model to obtain fault type information of the target hydraulic support.

When the historical state data information is used for training the fault identification model, the fault identification model can be built through methods such as machine learning, statistical analysis and the like, and then the terminal equipment with the model can identify common fault type information through analysis and learning of the historical state data information, so that real-time state data information is input into the fault identification model, and fault type information of the target hydraulic support is obtained.

S530, determining fault occurrence position information corresponding to the fault type information according to the fault type information of the target hydraulic support.

After the fault type information of the target hydraulic support is determined, the specific component or mechanism with the fault of the target hydraulic support can be judged, and then the fault occurrence position information corresponding to the fault type information can be determined. For example, if the fault type information is that the lifting height of the target hydraulic support is abnormal, it can be determined that the lifting mechanism of the target hydraulic support is faulty, and further, it can be determined that the fault occurrence position information is the lifting mechanism.

In this embodiment, the real-time status data information is input into the fault identification model to obtain the fault type information of the target hydraulic support, and then the fault occurrence position information corresponding to the fault type information is determined according to the fault type information of the target hydraulic support, so that the fault type information and the fault occurrence position information corresponding to the target hydraulic support can be obtained quickly.

s610, acquiring coal mine operation information in a server of the underground centralized control center.

Here, the coal mine operation information includes real environment information where the target hydraulic support is located, and action information to be executed of the target hydraulic support.

In this step, the real environment information may include thickness information of a coal seam located above the target hydraulic support, and the action information to be performed of the target hydraulic support may include supporting action information of the target hydraulic support on the roof. Through acquiring the coal mine operation information in the server of the underground centralized control center, the data interaction between the terminal equipment and the server of the underground centralized control center is realized, and more accurate background data is provided for the inspection target hydraulic support.

S620, according to the real-time state data information, the prediction environment information and the current execution action information which can be adapted to the target hydraulic support are determined.

For example, the real-time state data information includes supporting pressure information and action information, and according to the supporting pressure information, the predicted thickness information of the coal seam which can be adapted to the target hydraulic support can be determined, and according to the action information, the current executing action information of the target hydraulic support can be determined.

And S630, respectively comparing the predicted environment information with the real environment information, and the current execution action information with the action information to be executed, and judging whether the target hydraulic support fails.

In the step, the predicted environment information and the real environment information, and the current execution action information and the action information to be executed are respectively compared, first gap information between the predicted environment information and the real environment information and second gap information between the current execution action information and the action information to be executed are determined, and whether the target hydraulic support fails or not is judged according to the first gap information and the second gap information.

By adopting the method, the prediction environment information and the current execution action information which can be adapted to the target hydraulic support are determined according to the real-time state data information, and then the prediction environment information and the real environment information are respectively compared with the current execution action information and the action information to be executed, so that the data interaction between the underground centralized control center and the terminal equipment can be realized, and meanwhile, whether the target hydraulic support fails can be accurately judged.

In some possible embodiments, the inspection method of the hydraulic support further includes:

s710, positioning the patrol personnel according to a positioning module in the terminal equipment, and acquiring the position information of the patrol personnel.

Here, through the location to the personnel of patrolling and examining, can help colliery manager to know the position and the range of motion of personnel of patrolling and examining in real time to improve the effect to the safety control of personnel of patrolling and examining.

S720, judging whether the patrol personnel enter a dangerous area on the fully-mechanized mining face according to the position information of the patrol personnel.

The dangerous area comprises a scraper conveyor area, a working face roadway area, a gas drainage roadway area, an inclined shaft roadway opening area, a belt conveyor area and a fully-mechanized mining working face dynamic support area.

And S730, if the patrol personnel enter the dangerous area, sending out reminding information for reminding the patrol personnel to evacuate the dangerous area.

Here, the terminal device may send an alarm signal by sound, vibration or other means to send a reminder message to the inspector reminding the inspector to evacuate the dangerous area, so as to remind the inspector to evacuate the safe area in time. So as to increase the safety and alertness of the patrol personnel and reduce the occurrence of accidents.

Fig. 3 is a flowchart of a method for inspecting a hydraulic bracket according to an embodiment of the present application, which may be performed by the electro-hydraulic controller 120 of the hydraulic bracket shown in fig. 3, but is not limited thereto. Here, the terminal device is in wireless communication connection with the electrohydraulic controller of the hydraulic support through a bluetooth module, as shown in fig. 4, and the method comprises the following steps:

s810, acquiring real-time running state information of the hydraulic support and real-time working state information of the sensor through a sensor on the hydraulic support, and monitoring the acquired real-time control state information through a driver on the hydraulic support.

In this step, the real-time running state information of the sensor acquisition hydraulic support and the real-time working state information of the sensor are processed respectively, and useful characteristics are extracted so as to better judge the failure of the target hydraulic support, wherein the processing method comprises fourier transformation, wavelet transformation, time-frequency analysis and the like.

S820, the real-time running state information, the real-time working state information and the real-time control state information are used as real-time state data information and are sent to the terminal equipment, so that the terminal equipment judges whether the target hydraulic support fails according to the real-time state data information.

In the step, after the terminal equipment is connected with the target hydraulic support through the magnetic attraction structure, the electrohydraulic controller of the target hydraulic support sends real-time state data information comprising real-time running state information, real-time working state information and real-time control state information to the terminal equipment.

By adopting the method, the electrohydraulic controller of the target hydraulic support sends real-time state data information comprising real-time running state information, real-time working state information and real-time control state information to the terminal equipment, so that the terminal equipment judges whether the target hydraulic support fails according to the real-time state data information, and inspection personnel can finish inspection of the hydraulic support through the terminal equipment.

Fig. 4 is a schematic diagram of a hydraulic support inspection device 900 according to an embodiment of the present invention. The device 900 is located on a terminal device, and the terminal device is connected with an electrohydraulic controller of a hydraulic support in a wireless communication manner through a bluetooth module, as shown in fig. 4, the device 900 includes:

the state data information acquisition module 910 is configured to acquire real-time state data information of the target hydraulic support; the real-time state data information is at least one of real-time running state information of the target hydraulic support, real-time working state information of a sensor positioned on the target hydraulic support and real-time control state information of a driver positioned on the target hydraulic support;

The fault judging module 920 is configured to judge whether the target hydraulic support fails according to the real-time status data information;

the fault identification module 930 is configured to determine fault type information and fault occurrence position information of the target hydraulic support if the target hydraulic support fails;

and the alarm information generating module 940 is configured to generate alarm information corresponding to the target hydraulic support according to the fault type information and the fault occurrence position information, so that the alarm device alarms according to the alarm information.

In some implementations, the fault identification module 930 includes:

the data information judging unit is used for determining whether the complexity degree of the real-time state data accords with a first preset condition or a second preset condition according to the complexity degree of the real-time state data information;

the first fault determining unit is used for judging whether the target hydraulic support breaks down according to a comparison result between the preset threshold range and the real-time state data information if the complexity of the real-time state data information accords with a first preset condition;

and the second fault determining unit is used for inputting the real-time state data information into a pre-trained fault recognition model to determine whether the target hydraulic support breaks down if the complexity degree of the real-time state data information accords with a second preset condition.

In some implementations, the first fault determination unit includes:

the historical state data information acquisition subunit is used for acquiring historical state data information of each hydraulic support on the target working surface; the historical state data information is state data information of the hydraulic support in a normal operation state; the state data information comprises historical running state information of the hydraulic support, historical working state information of a sensor positioned on the hydraulic support and historical control state information of a driver positioned on the hydraulic support;

the preset threshold range determining subunit is used for determining a preset threshold range according to fluctuation information corresponding to the historical state data information; the fluctuation information includes a boundary value of the history state data information within the target period;

and the fault judging subunit is used for comparing the preset threshold range with the real-time state data information, and determining that the target hydraulic support breaks down if the real-time state data information is not in the preset threshold range.

In some implementations, the fault identification model is used for judging whether the target hydraulic support breaks down according to the real-time state data information and determining fault occurrence position information and fault type information of the target hydraulic support; the fault identification model is obtained by training historical state data information of the hydraulic support; accordingly, the second failure determination unit includes:

The model acquisition subunit is used for acquiring a fault identification model in a server of the centralized control center;

the fault type identification subunit is used for inputting the real-time state data information into the fault identification model to obtain fault type information of the target hydraulic support;

and the fault position determining subunit is used for determining fault occurrence position information corresponding to the fault type information according to the fault type information of the target hydraulic support.

In some implementations, the fault determination module 920 includes:

the coal mine operation information acquisition unit is used for acquiring coal mine operation information in a server of the underground centralized control center; the coal mine operation information comprises real environment information of a target hydraulic support and action information to be executed of the target hydraulic support;

the information determining unit is used for determining the prediction environment information which can be adapted to the target hydraulic support and the current execution action information according to the real-time state data information;

and the comparison judging unit is used for respectively comparing the predicted environment information with the real environment information, and the current execution action information with the action information to be executed to judge whether the target hydraulic support fails.

Fig. 5 is a schematic diagram of a hydraulic support inspection device 1000 according to an embodiment of the present invention. The device 1000 is located hydraulic support's electrohydraulic controller, and hydraulic support's electrohydraulic controller 120 passes through bluetooth module and terminal equipment 130 wireless communication connection, and the inspection device includes:

The information acquisition module 1010 is configured to acquire real-time running state information of the target hydraulic support itself and real-time working state information of the sensor through a sensor on the target hydraulic support, and acquire real-time control state information through monitoring a driver on the target hydraulic support;

the information sending module 1020 is configured to send the real-time running state information, the real-time working state information, and the real-time control state information to the terminal device as real-time state data information, so that the terminal device determines whether the target hydraulic support fails according to the real-time state data information.

It should be understood that the device embodiment and the inspection method embodiment of the hydraulic mount may correspond to each other, and similar descriptions may refer to the inspection method embodiment of the hydraulic mount. To avoid repetition, no further description is provided here. Specifically, the apparatus 900 shown in fig. 4 and the apparatus 1000 shown in fig. 5 may perform the above-mentioned embodiments of the inspection method of the hydraulic support, and the foregoing and other operations and/or functions of each module in the apparatus 900 and the apparatus 1000 are respectively for implementing corresponding flows in the inspection method of the hydraulic support, which are not described herein for brevity.

The apparatus 900 and the apparatus 1000 according to the embodiments of the present invention are described above from the viewpoint of functional modules in conjunction with the drawings. It should be understood that the functional module may be implemented in hardware, or may be implemented by instructions in software, or may be implemented by a combination of hardware and software modules. Specifically, each step of the hydraulic support inspection method embodiment in the embodiment of the present invention may be completed by an integrated logic circuit of hardware in a processor and/or an instruction in a software form, and the steps of the hydraulic support inspection method disclosed in connection with the embodiment of the present invention may be directly embodied and executed by a hardware decoding processor, or may be completed by a combination of hardware and software modules in the decoding processor. Alternatively, the software modules may be located in a well-established storage medium in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, and the like. The storage medium is positioned in the memory, the processor reads the information in the memory, and the steps in the inspection method embodiment of the hydraulic support are completed by combining the hardware of the processor.

Fig. 6 is a schematic block diagram of a terminal device 130 according to one embodiment of the present invention.

As shown in fig. 6, the terminal device 130 may include:

a memory 131 and a processor 132, the memory 131 being for storing a computer program and for transmitting the program code to the processor 132. In other words, the processor 132 may call and run a computer program from the memory 131 to implement the method in the embodiment of the present invention.

For example, the processor 132 may be configured to perform the above-described method embodiments according to instructions in the computer program.

In some embodiments of the invention, the processor 132 may include, but is not limited to:

a general purpose processor, digital signal processor (Digital Signal Processor, DSP), application specific integrated circuit (Application Specific Integrated Circuit, ASIC), field programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like.

In some embodiments of the present invention, the memory 131 includes, but is not limited to:

volatile memory and/or nonvolatile memory. The nonvolatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable EPROM (EEPROM), or a flash Memory. The volatile memory may be random access memory (Random Access Memory, RAM) which acts as an external cache. By way of example, and not limitation, many forms of RAM are available, such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (Double Data Rate SDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), and Direct memory bus RAM (DR RAM).

In some embodiments of the present invention, the computer program may be divided into one or more modules, which are stored in the memory 131 and executed by the processor 132 to perform the methods provided by the present invention. The one or more modules may be a series of computer program instruction segments capable of performing the specified functions, the instruction segments describing the execution of the computer program in the controller.

As shown in fig. 6, the terminal device 130 may further include:

a transceiver 133, the transceiver 133 being connectable to the processor 132 or the memory 131.

The processor 132 may control the transceiver 133 to communicate with other devices, and in particular, may transmit information or data to other devices or receive information or data transmitted by other devices. The transceiver 133 may include a transmitter and a receiver. The transceiver 133 may further include antennas, the number of which may be one or more.

It should be appreciated that the various components in the edge computing node are connected by a bus system that includes, in addition to a data bus, a power bus, a control bus, and a status signal bus.

The present invention also provides a computer storage medium having stored thereon a computer program which, when executed by a computer, enables the computer to perform the method of the above-described method embodiments. Alternatively, an embodiment of the present invention also provides a computer program product containing instructions which, when executed by a computer, cause the computer to perform the method of the method embodiment described above.

When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loaded and executed on a computer, produces a flow or function in accordance with embodiments of the invention, in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, or other programmable apparatus. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center by a wired (e.g., coaxial cable, fiber optic, digital subscriber line (Digital Subscriber Line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that contains an integration of one or more available media. The usable medium may be a magnetic medium (e.g., a floppy Disk, a hard Disk, a magnetic tape), an optical medium (e.g., a digital video disc (Digital Video Disc, DVD)), or a semiconductor medium (e.g., a Solid State Disk (SSD)), or the like.

Those of ordinary skill in the art will appreciate that the various illustrative modules and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the several embodiments provided by the present invention, it should be understood that the disclosed systems, devices, and methods may be implemented in other manners. For example, the apparatus embodiments described above are merely illustrative, and for example, the division of the modules is merely a logical function division, and there may be additional divisions when actually implemented, for example, multiple modules or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or modules, which may be in electrical, mechanical, or other forms.

The modules illustrated as separate components may or may not be physically separate, and components shown as modules may or may not be physical modules, i.e., may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. For example, functional modules in various embodiments of the present application may be integrated into one processing module, or each module may exist alone physically, or two or more modules may be integrated into one module.

The foregoing is merely illustrative of the present application, and the present application is not limited thereto, and any person skilled in the art will readily appreciate variations or alternatives within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

1. The inspection method for the hydraulic support is characterized by being applied to terminal equipment, wherein the terminal equipment is in wireless communication connection with an electrohydraulic controller of the hydraulic support, and the inspection method comprises the following steps:

2. The method of claim 1, wherein determining whether the target hydraulic mount has failed based on the real-time status data information comprises:

If the complexity of the real-time state data information accords with the first preset condition, judging whether the target hydraulic support fails according to a comparison result between a preset threshold range and the real-time state data information;

if the complexity of the real-time state data information accords with the second preset condition, inputting the real-time state data information into a pre-trained fault recognition model to determine whether the target hydraulic support fails.

3. The method according to claim 2, wherein determining whether the target hydraulic mount has failed based on a comparison between a preset threshold range and the real-time status data information comprises:

Determining the preset threshold range according to fluctuation information corresponding to the historical state data information; the fluctuation information includes a boundary value of the historical state data information within a target period of time;

4. The method according to claim 2, wherein the fault identification model is configured to determine whether the target hydraulic support is faulty according to the real-time status data information, and determine fault occurrence position information and fault type information of the target hydraulic support; the fault identification model is obtained by training historical state data information of the hydraulic support; correspondingly, the determining the fault type information and the fault occurrence position information of the target hydraulic support comprises the following steps:

acquiring the fault identification model in a server of a centralized control center;

inputting the real-time state data information into the fault identification model to obtain fault type information of the target hydraulic support;

5. The method of claim 1, wherein determining whether the target hydraulic mount has failed based on the real-time status data information comprises:

acquiring coal mine operation information in a server of an underground centralized control center; the coal mine operation information comprises real environment information of the target hydraulic support and action information to be executed of the target hydraulic support;

6. The inspection method for the hydraulic support is characterized by being applied to an electrohydraulic controller of the hydraulic support, wherein the electrohydraulic controller of the hydraulic support is in wireless communication connection with terminal equipment, and the inspection method comprises the following steps:

acquiring real-time running state information of the target hydraulic support and real-time working state information of the sensor through a sensor on the target hydraulic support, and acquiring real-time control state information through monitoring a driver on the target hydraulic support;

And sending the real-time running state information, the real-time working state information and the real-time control state information as real-time state data information to the terminal equipment, so that the terminal equipment judges whether the target hydraulic support fails according to the real-time state data information.

7. The utility model provides a hydraulic support's inspection device which characterized in that is located terminal equipment, terminal equipment and hydraulic support's electrohydraulic controller wireless communication connection, the device includes:

the state data information acquisition module is used for acquiring real-time state data information of the target hydraulic support; the real-time state data information comprises real-time running state information of the target hydraulic support, real-time working state information of a sensor positioned on the target hydraulic support and real-time control state information of a driver positioned on the target hydraulic support;

the fault judging module is used for judging whether the target hydraulic support breaks down or not according to the real-time state data information;

8. The utility model provides a device is patrolled and examined to hydraulic support's characterized in that is located hydraulic support's electrohydraulic controller, hydraulic support's electrohydraulic controller and terminal equipment wireless communication connection, it includes to patrol and examine the device:

and the information sending module is used for taking the real-time running state information, the real-time working state information and the real-time control state information as real-time state data information and sending the real-time running state information, the real-time working state information and the real-time control state information to the terminal equipment so that the terminal equipment can judge whether the target hydraulic support fails according to the real-time state data information, and the terminal equipment can judge whether the target hydraulic support fails according to the real-time state data information.

9. A terminal device, comprising:

a first processor and a first memory, the first memory for storing a computer program, the first processor for invoking and running the computer program stored in the first memory to perform the method of any of claims 1-5.

10. An electro-hydraulic controller for a hydraulic mount, comprising:

a second processor and a second memory, the second memory for storing a computer program, the second processor for invoking and running the computer program stored in the memory to perform the method of claim 6.

11. A hydraulic bracket inspection system, comprising: at least one data collection device, at least one terminal device according to claim 8, and an electrohydraulic controller of a hydraulic mount according to claim 9.