WO2023142631A1

WO2023142631A1 - Straightening method for multi-node device and corresponding device

Info

Publication number: WO2023142631A1
Application number: PCT/CN2022/133608
Authority: WO
Inventors: 陈冬阳; 徐景辉; 赵彦明; 唐世豪; 常志武
Original assignee: 华为技术有限公司
Priority date: 2022-01-29
Filing date: 2022-11-23
Publication date: 2023-08-03
Also published as: CN116558508A

Abstract

A straightening method for a multi-node device, used for automatically straightening a hydraulic support array and/or automatically straightening a scraper in a fully mechanized coal mining face system. The method comprises: a control device determines a first adjustment amount by means of position information and attitude angle information of hydraulic supports and a first target value of each hydraulic support in a hydraulic support array in a straightening direction, so that each hydraulic support adjusts the hydraulic support array according to the first adjustment amount, and/or the control device determines a second adjustment amount by means of the position information and attitude angle information of the hydraulic supports, the value of the length of extension of a push rod of each hydraulic support, and a second target value of a target node on the scraper connected to each push rod, so that each hydraulic support can perform a push operation on the scraper by means of the push rod so as to straighten the scraper. According to the method, the attitude angle information of the supports is fully considered during straightening of the support array and/or the scraper, thereby improving the straightening accuracy of the support array and/or the scraper.

Description

Straightening method for multi-node equipment and corresponding equipment

This application claims the priority of the Chinese patent application with the application number 202210111713.X and the title of the invention "A method for aligning multi-node equipment and corresponding equipment" submitted to the China Patent Office on January 29, 2022, the entire content of which Incorporated in this application by reference.

technical field

The present application relates to the field of computer technology, in particular to a method for straightening multi-node equipment and corresponding equipment.

Background technique

The three coal-cutting machines in the fully mechanized mining face of the coal mine refer to the coal shearer, the hydraulic support and the scraper machine, and the scraper machine is also called the scraper conveyor. Hundreds or hundreds of hydraulic supports are arranged according to requirements, and are respectively connected with the scraper machine to form the walking track of the coal mining machine. The shearer moves along the track, while the drum of the shearer cuts coal. Usually, the three machines in the fully mechanized mining face have strict requirements of "three straights and one leveling". The three straights mainly refer to the straightness of the array of hydraulic supports, the straightness of the scraper machine, and the straightness of the coal face cut by the shearer.

At present, fully mechanized mining faces rely on manual operation of hydraulic supports to straighten hydraulic support arrays. When there are few people and no one in the mine, it is inevitable to face the problem of straightening through automatic methods. At present, there is no mature technical solution in this field, which can solve the straightening problem of hydraulic support array and scraper machine.

Contents of the invention

The present application provides a method for straightening multi-node equipment, which is used for automatically straightening support arrays and/or scrapers in a fully mechanized mining face system. Embodiments of the present application also provide corresponding devices, devices, computer-readable storage media, and computer program products.

The first aspect of the present application provides a method for straightening multi-node equipment. The method is applied to a fully mechanized mining face system. The fully mechanized mining face system includes a bracket array, a scraper machine and control equipment. The bracket array includes A brackets, where A Each bracket in the brackets is connected to the scraper machine through a push rod, and A is an integer greater than 1. The method includes: the control device obtains the position information and the attitude angle information of the B brackets in the bracket array, B=A, or , the B brackets are distributed in the A brackets at intervals, and B is a positive integer; the control device is based on the position information and attitude angle information of each bracket in the B brackets, and the corresponding first position of each bracket in the B brackets in the straightening direction A target value, determine the first adjustment amount of each bracket in the B brackets, and/or, according to the position information and attitude angle information of each bracket in the B brackets, the push rod of each bracket in the B brackets extends The length value of , and the second target value corresponding to each target node in the straightening direction, determine the second adjustment value of each target node, the target node is the push rod of each bracket in the B brackets and the scraper machine connection point; the control device sends the corresponding first adjustment amount and/or second adjustment amount to each bracket in the B brackets, and the first adjustment amount is used for each bracket in the B brackets to move in the straightening direction, so as to To straighten the bracket array, the second adjustment amount is used to push the push rod connected to each target node to straighten the scraper.

In this application, a multi-node device refers to a plurality of devices that work together, or a device has multiple nodes, and the multiple nodes work together. Multi-node devices can be rack arrays or scrapers. The support array includes multiple supports, and the fully mechanized mining face system usually includes dozens or hundreds of supports, and each support can be understood as a node. A scraper is usually a track connected to multiple node devices, and the part connected to a bracket can be understood as a node. In this application, the support may be a hydraulic support, a pneumatic support or an electric support. The supports in the fully mechanized mining face system are usually hydraulic supports.

In this application, the control equipment can be computer equipment, and the control equipment in the fully mechanized mining face system refers to the equipment that controls the work of the three coal cutting machines in the fully mechanized mining face.

In the present application, "straightening" may mean adjusting to a straight line, or not adjusting to an absolute straight line, and the allowable range of error can be understood as straightening.

In this application, B=A means that the control device obtains the position information and attitude angle information of each bracket in the bracket array. The distribution of the B brackets on the A brackets at intervals refers to obtaining the position information and attitude angle information of a bracket at intervals of several brackets. It should be noted that the interval may be a uniform interval, for example, acquiring position information and attitude angle information of a support every M supports or every (M−1) supports. The interval can also be uneven intervals, for example: for the supports in the support array, some obtain the position information and attitude angle information of a support at intervals of (M-1) supports, and some obtain the position information and attitude of a support at intervals of P supports For the angle information, it is also possible to obtain the position information and attitude angle information of a bracket at intervals of Q brackets, and the specific interval method is not limited in this application.

In this application, the position includes information of one or more translational degrees of freedom among the three translational degrees of freedom. In one of the descriptions, the three translational degrees of freedom include x-axis translation, y-axis translation, and z-axis translation. Of course, translation on one or two axes can also be included, such as: x-axis translation, x-axis translation And y-axis translation, in fact, the translation of one axis or two axes can also be understood as a special three-axis translation, except that the translation amount on the other two axes or one axis is 0. The pose includes information on one or more of the three rotational degrees of freedom. In one of the descriptions, the three rotational degrees of freedom include x-axis rotation, y-axis rotation, and z-axis rotation. Of course, it can also include rotation on one or two axes, such as: x-axis rotation, x-axis rotation And y-axis rotation, in fact, the rotation of one axis or two axes can also be understood as a special three-axis rotation, except that the rotation amount on the other two axes or one axis is 0. Wherein, the information of the translation degree of freedom can be the coordinate information describing an object in the coordinate axis, for example: the position information of each support can be the coordinate of each support on at least one of the x-axis, y-axis and z-axis information. The information of the degree of freedom of rotation can describe the rotation angle of an object around the coordinate axis, such as: heading angle, roll angle or pitch angle, for example, the attitude angle information of each support can include the heading angle information of each support, roll angle At least one of angle information and pitch angle information.

In the present application, the attitude angle information of each support may include heading angle information, roll angle information and pitch angle information of each support.

In this application, "straightening direction" refers to the adjustment direction of each bracket in the B brackets and the scraper machine. The straightening direction can be the y-axis direction or any other direction. The straightening direction is not limited.

In this application, in the straightening direction, each of the B brackets will have a corresponding first target value. Considering that the bracket may be disturbed by ground inequality, the control device will combine the first target value and the attitude angle of the bracket Information to determine the first adjustment amount, so as to control each of the B brackets to move the bracket to a position corresponding to the first target value, and then straighten the bracket array.

In this application, the target node is the node connected to the push rod of the bracket on the scraper machine. The attitude angle information of the push rod is the same as that of the bracket. The length value of the push rod indicates the distance from the bracket to the target node. distance. In the direction of straightening, each target node will have a corresponding second target value. Considering that the push rod may be disturbed by ground inequality, the control device will combine the second target value and the attitude angle information of the bracket to determine the second adjustment. Amount, so as to control the push rod of each bracket in the B brackets to move the corresponding target node on the scraper machine, and then straighten the scraper machine.

It should be noted that both the first target value and the second target value are numerical values, the first target value represents the straightening target of the bracket in the straightening direction, and the second target value represents the adjustment of the target node of the scraper machine in the straightening direction Straight target.

In this application, "cradle moving" and "pushing" can be understood as commonly used terms in the fully mechanized mining face system. Laying frame movement refers to the movement of the bracket after lowering the top beam, and pushing refers to the push rod pushing and pulling the scraper machine. In order to realize the forward or backward of the scraper machine.

In the above-mentioned first aspect, the automatic straightening of the bracket array and/or the scraper machine can be achieved through the control equipment, and the automation of straightening the bracket array and/or the scraper machine is realized. In addition, in this application, in the straightening of the bracket array and the The attitude angle information of the support is also fully considered during the /or scraper machine, which improves the alignment accuracy of the bracket array and/or the scraper machine.

In a possible implementation of the first aspect, each of the B brackets is provided with an inertial measurement unit (inertial measurement unit, IMU) and a stroke sensor, and the stroke sensor is arranged on the drive mechanism of the push rod; the IMU It is used to measure the angular velocity information and acceleration information of the bracket, and the angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the bracket; Pushing displacement information combined with attitude angle information and position information is used for control equipment to determine the coordinate information of the target node on the scraper machine.

In this possible implementation, the IMU can be used to measure the angular velocity information and acceleration information of the support, so that the control device can determine the attitude angle information and position information of the support according to the angular velocity information and acceleration information of the support, and the travel sensor can measure The frame displacement information and push displacement information of the support, so that the control device can determine the coordinate information of the target node on the scraper machine in combination with the frame displacement information, push displacement information, attitude angle information and position information. In this application, each of the B brackets is provided with an inertial measurement unit (IMU) and a travel sensor. When B is not equal to A, other brackets may also be provided with an IMU or/and a travel sensor.

In a possible implementation of the first aspect, the above steps: the control device is based on the position information and attitude angle information of each bracket in the B brackets, and the first position corresponding to each bracket in the B brackets in the straightening direction. The target value is used to determine the first adjustment amount of each of the B brackets, including: the control device determines the position information of each of the B brackets in the straightening direction, and the position information of each of the B brackets in the straightening direction The first difference of the corresponding first target value; the control device determines the first difference between the first difference of each of the B brackets and the cosine data of each of the B brackets in the straightening direction as the first adjustment amount; wherein, the cosine data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the straightening direction of each bracket in the B brackets The cosine of the heading angle, the second cosine is the cosine of the roll angle of each bracket in the straightening direction of the B brackets, and the third cosine is the cosine of the pitch angle of each bracket in the straightening direction of the B brackets , the heading angle, roll angle, and pitch angle are included in the attitude angle information of each bracket in the B brackets.

In this possible implementation, the first difference is the difference between the first target value and the coordinate value of the bracket in the straightening direction, and the difference can be a positive or negative value, and a positive value means that it is the same as the straightening direction, Negative values indicate the opposite direction of straightening. Taking the straightening direction as the y-axis as an example, the coordinates of a bracket are (Xn, Yn, Zn), and the attitude information is (θnx, θny, θnz), where θny is the heading angle, θnx is the pitch angle, and θnz is the roll angle, and the corresponding first target value is Fn, then the first difference=Fn-Yn. The first adjustment value=(Fn-Yn)/cosine data, the first cosine=cosθny, the second cosine=cosθnz, the third cosine=cosθnx, the cosine data can be cosθny or cosθny.cosθnz, cosθny. cosθnx or cosθny.cosθnz.cosθnx. Among them, "." represents the multiplication sign. When calculating the first adjustment amount, the present application takes into account various angle factors that may be affected by the bracket, so that the calculated first adjustment amount is more accurate, and further improves the alignment accuracy of the bracket array.

In a possible implementation manner of the first aspect, the method further includes: the control device determines a first curve according to the position information of each of the B brackets, and the first curve is used to describe the position distribution of the B brackets; If the maximum peak value or the maximum valley value in the straightening direction in the first curve exceeds the first threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold, the control device performs a determination of the first adjustment Quantitative steps.

In this possible implementation manner, the first curve may be a line connecting the coordinates of each of the B brackets, or may be a curve obtained by fitting the coordinates of each of the B brackets. The first curve may describe the position distribution of the B brackets. The first threshold and the second threshold may be preconfigured values, such as: 1 cm to 50 cm, or other values, if the maximum peak value or the maximum valley value in the straightening direction in the first curve does not exceed the first threshold value, or The difference between the maximum peak value and the maximum valley value in the straightening direction does not exceed the second threshold, which means that the current support array is relatively straight, and no straightening processing is required, which saves time for straightening and improves work efficiency.

In a possible implementation of the first aspect, the above steps: the control device, according to the position information and attitude angle information of each bracket in the B brackets, and the length value of the push rod of each bracket in the B brackets, As well as the second target value corresponding to each target node in the straightening direction, determining the second adjustment amount of each target node includes: the control device is based on the position information of each bracket in the B brackets, and the position information of each bracket in the B brackets The extended length value of the push rod of the B brackets, and the attitude angle information of each bracket in the B brackets, determine the coordinate information of each target node; the control device determines the coordinate information of each target node in the straightening direction, and The second difference of the second target value corresponding to each target node in the straightening direction; the control device calculates the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction Determined as the second adjustment amount; wherein, the cosine data includes the fourth cosine, or the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine, and the fourth cosine is connected to each target node The cosine of the heading angle of the push rod in the straightening direction, the fifth cosine is the cosine of the roll angle of the push rod connected to each target node in the straightening direction, and the sixth cosine is the cosine of the roll angle of the push rod connected to each target node The cosine of the pitch angle of the push rod in the straightening direction, the heading angle, roll angle, and pitch angle are included in the attitude angle information of the push rod connected to each target node, and the attitude angle of the push rod connected to each target node The information is the attitude angle information of the bracket where the push rod is located.

In this possible implementation, the coordinates of a bracket are (Xn, Yn, Zn), the attitude information is (θnx, θny, θnz), the length of the push rod is dn, and the coordinate information of the corresponding target node is ( an, bn, cn), taking the y-axis direction as an example, bn=Yn+dn/cosθny, the second difference is the difference (En−bn) between the second target value En and bn. The second adjustment amount=(En-bn)/cosine data, the fourth cosine=cosθny, the fifth cosine=cosθnz, the sixth cosine=cosθnx, the cosine data can be cosθny, or cosθny.cosθnz, cosθny. cosθnx or cosθny.cosθnz.cosθnx. The present application takes into account various angle factors that may be affected by the push rod when calculating the second adjustment amount, so that the calculated second adjustment amount is more accurate, and further improves the straightening accuracy of the scraper machine.

In a possible implementation manner of the first aspect, the method further includes: the control device determines a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node; if the first In the second curve, the maximum peak value or the maximum valley value in the straightening direction exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, then the control device performs determination of the second adjustment amount A step of.

In this possible implementation manner, the second curve may be a line connecting the coordinates of each target node in the straightening direction, or may be a curve obtained by fitting the coordinates of each target node in the straightening direction. The second curve may describe the position distribution of each target node. The third threshold and the fourth threshold can be pre-configured values, such as: 1 cm to 50 cm, or other values, if the maximum peak or maximum valley value in the second curve does not exceed the third threshold, or in the straightening direction The difference between the maximum peak value and the maximum valley value does not exceed the fourth threshold, which means that the current scraper is relatively straight and does not need to be straightened, which can save time for straightening and improve the working efficiency of the shearer .

In a possible implementation of the first aspect, the method further includes: the control device according to the measured value of the heading angle of each bracket in the straightening direction in the B brackets, and the target value of the heading angle in the straightening direction , to determine the compensation value of the heading angle of each bracket in the B brackets; the control device sends the compensation value of the corresponding heading angle to the adjacent brackets of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust B The position of each bracket in the B brackets, so as to adjust each bracket in the B brackets to the target value of the heading angle.

In this possible implementation, two adjacent brackets in the bracket array can push the other bracket to rotate by a certain angle through the driving mechanisms on both sides. For example, if the straightening direction is the y-axis direction, then the x-axis direction can The push rod of the stent is used to push the adjacent stent to rotate, so as to adjust the angular rotation of the stent in the stent array. It should be noted that the compensation value of the heading angle in this possible implementation includes the compensation value of the angle and the displacement compensation value of the push rod that pushes the adjacent support. If the direction parallel to the coal surface is the x-axis, push the adjacent The push rod of the bracket usually refers to the push rod in the x-axis direction. Wherein, the compensation value of the angle can be the difference between the target value of the heading angle and the measured value of the heading angle, and the pushing compensation value of the push rod can be determined according to the length of the bottom plate of the bracket in the Y-axis direction and the compensation value of the angle. The distance that the bracket needs to move in the x-axis direction.

The second aspect of the application provides a support in the fully mechanized mining face system, the support is provided with an inertial measurement unit IMU and a travel sensor, the travel sensor is arranged on the drive mechanism of the push rod of the support; the IMU is used to measure the angular velocity information of the support And acceleration information, angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the bracket; the stroke sensor is used to measure the frame displacement information and push displacement information of the bracket, and the frame displacement information and push displacement information are combined with the attitude angle The information and position information are used for the control equipment in the fully mechanized mining face system to determine the coordinate information of the target node on the scraper machine in the fully mechanized mining face system. The target node is the connection point between the push rod of the support and the scraper machine.

In the second aspect, the angular velocity information and acceleration information of the support can be measured through the IMU, so that the control device can determine the attitude angle information and position information of the support according to the angular velocity information and acceleration information of the support, and the travel sensor can measure the frame of the support Displacement information and push displacement information, so that the control device can determine the coordinate information of the target node on the scraper machine by combining the frame displacement information, push displacement information, attitude angle information and position information. In this way, the control device can adjust the bracket array and the scraper machine according to the attitude angle information and position information of the bracket, and the coordinate information of the target node on the scraper machine.

In a possible implementation of the second aspect, the fully mechanized mining face system includes a support array, and the support is one of the support arrays; the attitude angle information and position information of the support are used for the control equipment to determine the first target value of the support in conjunction with The first adjustment amount of the bracket, the first adjustment amount is used to move the bracket to straighten the bracket array; the coordinate information of the target node is used to control the device combined with the second target value of the target node to determine the second adjustment amount of the target node , the second adjustment amount is used to push the push rod connected to the target node to straighten the scraper.

In a possible implementation manner of the second aspect, the support is a hydraulic support, a pneumatic support or an electric support.

In a possible implementation manner of the second aspect, the IMU is disposed on a base or a top beam of the bracket.

In a possible implementation manner of the second aspect, the direction of one axis of the IMU is the same as the orientation of the stroke sensor. If the orientation of the stroke sensor is the same as the y-axis direction of the IMU, of course, the stroke sensor can also have an angle with the y-axis. If there is an angle, when calculating the coordinates of the target node, it needs to be considered that the stroke sensor can also be in the same direction as the y-axis. There is an angle between the axes.

Above, some features and effects of the second aspect or any possible implementation of the second aspect can be understood with reference to the features and effects of the first aspect, and will not be repeated here.

The third aspect of the present application provides a control device for straightening multi-node equipment. The control device is included in the fully mechanized mining face system. The fully mechanized mining face system also includes a bracket array and a scraper machine. The bracket array includes A brackets, wherein , each of the A brackets is connected to the scraper machine through a push rod, A is an integer greater than 1, and the control equipment includes:

The acquiring unit is used to acquire the position information and the attitude angle information of the B brackets in the bracket array, B=A, or, the B brackets are distributed among the A brackets at intervals, and B is a positive integer.

The processing unit is used to determine the position information and attitude angle information of each bracket in the B brackets obtained by the acquisition unit, and the first target value corresponding to each bracket in the B brackets in the straightening direction, and determine the position information of each bracket in the B brackets. The first adjustment amount of the first bracket, and/or, according to the position information and attitude angle information of each bracket in the B brackets, the length value of the push rod of each bracket in the B brackets, and each bracket in the straightening direction The second target value corresponding to the target nodes determines the second adjustment value of each target node, and the target node is the connection point between the push rod of each bracket in the B brackets and the scraper machine.

The sending unit is configured to send the first adjustment amount and/or the second adjustment amount determined by the corresponding processing unit to each of the B brackets, and the first adjustment amount is used for each bracket of the B brackets to perform adjustment in the straightening direction. The pull frame moves to straighten the bracket array, and the second adjustment amount is used to push the push rod connected to each target node to straighten the scraper.

In a possible implementation of the third aspect, each of the B brackets is provided with an inertial measurement unit IMU and a stroke sensor, and the stroke sensor is arranged on the drive mechanism of the push rod; the IMU is used to measure the angular velocity of the bracket Information and acceleration information, angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the bracket; the travel sensor is used to measure the frame displacement information and push displacement information of the bracket, and the frame displacement information and push displacement information are combined with attitude The angle information and position information are used for the control equipment to determine the coordinate information of the target node on the scraper machine.

In a possible implementation of the third aspect, the processing unit is configured to: determine the position information of each bracket in the straightening direction of the B brackets, and the position information corresponding to the straightening direction of each bracket in the B brackets The first difference of a target value; the first difference of each bracket in the B brackets, and the quotient of the cosine data of each bracket in the straightening direction in the B brackets are determined as the first adjustment amount; wherein, the cosine The data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the cosine of the heading angle of each of the B supports in the straightening direction , the second cosine is the cosine of the roll angle of each of the B brackets in the straightening direction, the third cosine is the cosine of the pitch angle of each of the B brackets in the straightening direction, the heading angle, roll angle The roll angle and the pitch angle are included in the attitude angle information of each bracket in the B brackets.

In a possible implementation of the third aspect, the processing unit is further configured to: determine a first curve according to the position information of each of the B brackets, where the first curve is used to describe the position distribution of the B brackets; if In the first curve, the maximum peak value or the maximum valley value in the straightening direction exceeds the first threshold value, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold value, then the determination of the first adjustment amount is performed. step.

In a possible implementation of the third aspect, the processing unit is configured to: according to the position information of each bracket in the B brackets, and the length value of the push rod of each bracket in the B brackets, and the B brackets The attitude angle information of each bracket in the bracket determines the coordinate information of each target node; determines the coordinate information of each target node in the straightening direction, and the second target value corresponding to each target node in the straightening direction The second difference; the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction is determined as the second adjustment amount; wherein the cosine data includes the fourth cosine, or , the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine, the fourth cosine is the cosine of the heading angle of the push rod connected to each target node in the straightening direction, and the fifth cosine is The cosine of the roll angle of the push rod connected to each target node in the straightening direction, the sixth cosine is the cosine of the pitch angle of the push rod connected to each target node in the straightening direction, heading angle, roll angle , the pitch angle is included in the attitude angle information of the push rod connected to each target node, and the attitude angle information of the push rod connected to each target node is the attitude angle information of the bracket where the push rod is located.

In a possible implementation of the third aspect, the processing unit is further configured to: determine a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node; if the second If the maximum peak value or the maximum valley value in the straightening direction of the curve exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, the step of determining the second adjustment amount is executed.

In a possible implementation manner of the third aspect, the processing unit is further configured to: according to the measured value of the heading angle of each of the B brackets in the straightening direction and the target value of the heading angle in the straightening direction, Determine the compensation value for the heading angle of each of the B brackets.

The sending unit is also used to send the compensation value of the corresponding heading angle to the adjacent brackets of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust the position of each bracket in the B brackets, so that the B brackets Each bracket in the bracket is adjusted to the target value of the heading angle.

The control device has the function of implementing the first aspect or the method of any possible implementation manner of the first aspect. This function may be implemented by hardware, or may be implemented by executing corresponding software on the hardware. The hardware or software includes one or more modules corresponding to the above functions, such as the above: acquisition unit, processing unit and sending unit. The relevant content of the third aspect or any possible implementation manner of the third aspect may be understood by referring to the first aspect and the relevant content of any possible implementation manner of the first aspect.

The fourth aspect of the present application provides a control device, the control device includes at least one processor, a memory, an input/output (input/output, I/O) interface, and a computer executable stored in the memory and operable on the processor Instructions, when the computer-executed instructions are executed by the processor, the processor executes the method according to the above first aspect or any possible implementation manner of the first aspect.

The fifth aspect of the present application provides a computer-readable storage medium storing one or more computer-executable instructions. When the computer-executable instructions are executed by a processor, the one or more processors execute any of the above-mentioned first aspect or first aspect. A method of one possible implementation.

The sixth aspect of the present application provides a computer program product that stores one or more computer-executable instructions. When the computer-executable instructions are executed by one or more processors, one or more processors execute the above-mentioned first aspect or first A method for any one of the possible implementations of the aspect.

The seventh aspect of the present application provides a chip system, the chip system includes at least one processor, at least one processor is used to support the control device to implement the functions involved in the first aspect or any possible implementation of the first aspect . In a possible design, the system-on-a-chip may further include a memory, and the memory is used to store necessary program instructions and data for controlling the device. The system-on-a-chip may consist of chips, or may include chips and other discrete devices.

The eighth aspect of the present application provides a fully mechanized mining face system, including a support array, a scraper machine, a coal shearer and control equipment. The support array includes A supports, wherein, each support in the A supports is connected to each other through a push rod. The scraper machine is connected, the coal shearer runs on the scraper machine, A is an integer greater than 1, and the control device is used to implement the method of the first aspect or any one of the possible implementations of the first aspect.

Description of drawings

Fig. 1 is a structural representation of the fully mechanized mining face system that the embodiment of the application provides;

Fig. 2 is another schematic structural view of the fully mechanized mining face system provided by the embodiment of the present application;

Fig. 3 is a schematic diagram of an embodiment of a method for straightening multiple node devices provided by an embodiment of the present application;

Fig. 4A is a schematic structural view of the bracket provided by the embodiment of the present application;

Fig. 4B is another structural schematic diagram of the stent provided by the embodiment of the present application;

Fig. 5 is a schematic diagram of another embodiment of a method for aligning multiple node devices provided by the embodiment of the present application;

Fig. 6A is a schematic diagram of the three-dimensional coordinate system provided by the embodiment of the present application;

Fig. 6B is another schematic diagram of the three-dimensional coordinate system provided by the embodiment of the present application;

Fig. 7A is a schematic diagram of an example of the first curve provided by the embodiment of the present application;

Fig. 7B is a schematic diagram of an example of calculating the first difference provided by the embodiment of the present application;

FIG. 8A is a schematic diagram of an example of an alignment method for multiple node devices provided by an embodiment of the present application;

FIG. 8B is a schematic diagram of another example of a method for straightening multiple node devices provided by an embodiment of the present application;

Fig. 8C is another example schematic diagram of the method for straightening multiple node devices provided by the embodiment of the present application;

FIG. 8D is a schematic diagram of another example of a method for straightening multiple node devices provided by an embodiment of the present application;

FIG. 9 is a schematic diagram of another example of an alignment method for multiple node devices provided by an embodiment of the present application;

FIG. 10 is a schematic structural diagram of a control device provided by an embodiment of the present application;

Fig. 11 is another schematic structural diagram of the control device provided by the embodiment of the present application.

Detailed ways

Embodiments of the present application are described below in conjunction with the accompanying drawings. Apparently, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Those of ordinary skill in the art know that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

The terms "first", "second" and the like in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and are not necessarily used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments described herein can be practiced in sequences other than those illustrated or described herein. Furthermore, the terms "comprising" and "having", as well as any variations thereof, are intended to cover a non-exclusive inclusion, for example, a process, method, system, product or device comprising a sequence of steps or elements is not necessarily limited to the expressly listed instead, may include other steps or elements not explicitly listed or inherent to the process, method, product or apparatus.

The present application provides a method for straightening multi-node equipment, which is used for automatically straightening support arrays and/or scrapers in a fully mechanized mining face system. Embodiments of the present application also provide corresponding devices, devices, computer-readable storage media, and computer program products. Each will be described in detail below.

The three machines of the fully mechanized mining face system in the coal mine include a shearer, a support array and a scraper conveyor, and the scraper conveyor is also called a scraper conveyor. The supports in the support array may be hydraulic supports, pneumatic supports or electric supports. In the embodiment of the present application, a hydraulic support is taken as an example for introduction.

The structure of the fully mechanized mining face system in the embodiment of the present application can be understood by referring to a schematic structural diagram of the fully mechanized mining face system shown in FIG. 1 .

As shown in Fig. 1, the three machines of the fully mechanized mining face system provided by the embodiment of the present application include a shearer 101, a hydraulic support 102 and a scraper conveyor 103, and the scraper conveyor is also called a scraper conveyor. There may be multiple hydraulic supports 102, and in coal mines, there are usually tens or hundreds of hydraulic supports in the support array. The scraper machine 103 is equivalent to the track of the coal shearer 101, and the coal shearer 101 walks from one end of the scraper machine 103 to the other end to complete a one-shot coal mining work. Then the hydraulic support 102 moves to the direction perpendicular to the coal face, and the scraper machine 103 is pushed to move also to the direction perpendicular to the coal face. coal work.

If the support array of the hydraulic support 102 is not straight, the track of the scraper machine 103 is probably not straight, so the coal shearer 101 cannot cut a straight coal face. Therefore, the straightening of the bracket array and the straightening of the scraper machine are very important in the fully mechanized mining face system. The fully mechanized mining face system includes not only the shearer 101, the hydraulic support 102, and the scraper machine 103 shown in Fig. 1, but also other equipment, including control equipment usually arranged in the control room.

As shown in Figure 2, the control device communicates with each bracket, and can obtain the position information and attitude angle information of the bracket from the bracket, and then send control information to the bracket, and then control the bracket to move or push. The control equipment can be computer equipment. In the fully mechanized mining face system, the control equipment refers to the equipment that controls the work of the three coal cutting machines at the fully mechanized mining face. In the embodiment of the present application, "rack moving" and "pushing" can be understood as commonly used terms in the fully mechanized mining face system. The moving of the rack refers to the movement after the support lowers the top beam, and the pushing refers to the pushing and pulling of the scraper by the push rod. Machine, to realize the forward or backward of the scraper machine.

Based on the purpose of straightening the bracket array and/or the scraper machine, the embodiment of the present application provides a method for straightening multi-node equipment, which is applied to the fully mechanized mining face system shown in Figure 2 above, and the fully mechanized mining face system It includes a bracket array, a scraper machine and a control device. The bracket array includes A brackets, wherein, each bracket in the A brackets is connected to the scraper machine through a push rod, and A is an integer greater than 1. In the embodiment of the present application, a multi-node device refers to multiple devices that work together, or a device has multiple nodes, and the multiple nodes work together. Multi-node devices can be rack arrays or scrapers. The support array includes multiple supports, and the fully mechanized mining face system usually includes dozens or hundreds of supports, and each support can be understood as a node. A scraper is usually a track connected to multiple node devices, and the part connected to a bracket can be understood as a node.

In the embodiment of the present application, "straightening" may mean adjusting to a straight line, or not adjusting to a straight line in an absolute sense, and the allowable range of error can be understood as straightening.

An embodiment of the straightening method provided by the embodiment of the present application can be understood with reference to FIG. 3 . As shown in FIG. 3 , an embodiment of the straightening method may include:

201. The control device acquires position information and attitude angle information of B brackets in the bracket array.

B=A, or, B brackets are distributed among A brackets at intervals, and B is a positive integer.

B=A means that the control device obtains the position information and attitude angle information of each bracket in the bracket array.

The distribution of the B brackets on the A brackets at intervals refers to obtaining the position information and attitude angle information of a bracket at intervals of several brackets. It should be noted that the interval may be a uniform interval, for example, acquiring position information and attitude angle information of a support every M supports or every (M−1) supports. The interval can also be uneven intervals, for example: for the supports in the support array, some obtain the position information and attitude angle information of a support at intervals of (M-1) supports, and some obtain the position information and attitude of a support at intervals of P supports For the angle information, it is also possible to obtain the position information and attitude angle information of a bracket at intervals of Q brackets, and the specific interval method is not limited in this application.

202. The control device determines the first position of each bracket in the B brackets according to the position information and attitude angle information of each bracket in the B brackets, and the first target value corresponding to each bracket in the B brackets in the straightening direction. The adjustment amount, and/or, according to the position information and attitude angle information of each bracket in the B brackets, the length value of the push rod of each bracket in the B brackets, and the corresponding value of each target node in the straightening direction The second target value of is used to determine the second adjustment value of each target node, and the target node is the connection point between the push rod of each bracket in the B brackets and the scraper machine.

In the straightening direction, each of the B brackets will have a corresponding first target value. Considering that the bracket may be disturbed by ground inequality, the control device will combine the first target value and the attitude angle information of the bracket to determine the first target value. One adjustment amount, so that each of the B brackets can be controlled to move to a position corresponding to the first target value, and then the bracket array can be straightened.

The target node is the node connected to the push rod of the support on the scraper machine. The attitude angle information of the push rod is the same as that of the support. The length value of the push rod represents the distance from the support to the target node. In the direction of straightening, each target node will have a corresponding second target value. Considering that the push rod may be disturbed by ground inequality, the control device will combine the second target value and the attitude angle information of the bracket to determine the second adjustment. Amount, so as to control the push rod of each bracket in the B brackets to move the corresponding target node on the scraper machine, and then straighten the scraper machine.

203. The control device sends the corresponding first adjustment amount and/or the second adjustment amount to each of the B racks.

The first adjustment amount is used for each bracket of the B brackets to move in the straightening direction to straighten the bracket array, and the second adjustment amount is used for pushing the push rod connected to each target node to straighten the scraper. trigger.

204. The rack moves according to the first adjustment amount to straighten the rack array, and/or pushes and slides according to the second adjustment amount to straighten the scraper.

In the embodiment of the present application, the automatic straightening of the support array and/or the scraper machine can be realized through the control equipment, and the automation of the straightening of the support array and/or the scraper machine is realized. In addition, in this application, in the straightening of the support array and The attitude angle information of the support is also fully considered during the /or scraper machine, which improves the alignment accuracy of the bracket array and/or the scraper machine.

The method of obtaining the position information and attitude angle information of the B brackets in the bracket array in the above step 201 may be to obtain the angular velocity information and acceleration information of the brackets from each bracket in the B brackets, and then the control device determines the brackets according to the angular velocity information and acceleration information. The attitude angle information and position information of the support may also be obtained directly by the control device from the attitude angle information and position information of the support calculated by the calculation unit on the support. The angular velocity information and acceleration information of the bracket are measured by an inertial measurement unit (IMU) installed on the bracket. A stroke sensor is also installed on the bracket, and the stroke sensor is arranged on the driving mechanism of the push rod. The stroke sensor is used to measure the frame displacement information and the push displacement information of the support. The frame displacement information and the push displacement information are combined with the attitude angle information and The position information is used by the control device to determine the coordinate information of the target node on the scraper machine.

It should be noted that each of the B brackets is provided with an inertial measurement unit (IMU) and a travel sensor. When B is not equal to A, other brackets may also be provided with an IMU or/and a travel sensor.

As can be seen from the foregoing description, the embodiment of the present application also provides a support in a fully mechanized mining face system, the support is provided with an inertial measurement unit (IMU) and a travel sensor, and the travel sensor is provided on the drive mechanism of the push rod of the support; the IMU is used for Measure the angular velocity information and acceleration information of the support, and the angular velocity information and acceleration information are used to control the equipment to determine the attitude angle information and position information of the support; the stroke sensor is used to measure the frame displacement information and push displacement information of the support, and the frame displacement information and push displacement information Displacement information combined with attitude angle information and position information is used for the control equipment in the fully mechanized mining face system to determine the coordinate information of the target node on the scraper machine in the fully mechanized mining face system. The target node is the connection point between the push rod of the support and the scraper machine.

The structure of the bracket in the bracket array provided by the embodiment of the present application can be understood with reference to FIG. 4A. As shown in FIG. 306 , push rod 307 , side guard 308 , IMU 309 and stroke sensor 310 . Wherein, one end of the rear connecting rod 302, the front connecting rod 305 and the column 306 is respectively arranged on the base 301, and the push rod 307 is arranged on a driving mechanism of the base. It should be noted that the base can be provided with multiple driving mechanisms, Such as: the drive mechanism in the x-axis direction, the drive mechanism in the y-axis direction, the drive mechanism in the z-axis direction, the push rod 307 in FIG. The direction of motion of the driving mechanism in the axial direction is consistent. The stroke sensor 310 is also disposed on the driving mechanism in the y-axis direction, and of course, the stroke sensor may also be disposed on the driving mechanism in other axis directions. The stroke sensor 310 can measure the rack displacement information and push displacement information of the support. The other end of the rear link 302 and the front link 305 is connected with the cover beam 303, the other end of the cover beam 303 and the column 306 is connected with the top beam 304, one end of the top beam 304 is connected with the cover beam 303, the middle position is connected with the column 306, and One end is connected to the side guard 308 . In FIG. 4A , the IMU 309 is installed on the base 301 . Actually, as shown in FIG. 4B , the IMU 309 can also be installed on the top beam 304 .

In the embodiment of the present application, the direction of one axis of the IMU is the same as the direction of the stroke sensor. If the orientation of the stroke sensor is the same as the y-axis direction of the IMU, of course, the stroke sensor can also have an angle with the y-axis. If there is an angle, when calculating the coordinates of the target node, it needs to be considered that the stroke sensor can also be in the same direction as the y-axis. There is an angle between the axes.

It can be seen from the foregoing description that the control device can control each bracket in the bracket array to straighten the bracket array and/or straighten the scraper. It may also be that the control device controls the spaced supports in the support array to perform straightening of the support array and/or straightening of the scraper. Introduce them separately below.

1. The control device controls each bracket in the bracket array to straighten the bracket array and/or straighten the scraper.

As shown in Figure 5, another embodiment of the method for straightening multi-node equipment provided by the embodiment of the present application includes:

401. The control device obtains the angular velocity information and acceleration information of the support measured by the IMU from each support in the support array, and the rack displacement information and push displacement information of the support measured by the travel sensor.

402. The control device determines the position information and attitude angle information of each support according to the angular velocity information and acceleration information of each support.

The position information of the bracket may be the three-dimensional coordinates of the bracket. Taking the nth bracket as an example, the three-dimensional coordinates of the nth bracket may be marked as (Xn, Yn, Zn). The attitude angle information of the support can be the pitch angle, heading angle and roll angle of the support on the three-dimensional coordinate system. Taking the n-th support as an example, the attitude angle information of the n-th support can be expressed as (θnx,θny, θnz), where θnx is the pitch angle, θny is the heading angle, and θnz is the roll angle.

The three-dimensional coordinate system in the embodiment of the present application can be understood by referring to FIG. 6A. As shown in FIG. 6A, the direction parallel to the coal surface is defined as the x-axis, and the direction perpendicular to the coal surface is defined as the y-axis, and the x-axis and the y-axis The direction perpendicular to the plane is defined as the z-axis. Among them, θx is the pitch angle, indicating the angle between the y-axis and the x-axis. θy is the heading angle, indicating the angle between the z-axis and the y-axis. θz is the roll angle, indicating the angle between the x-axis and the y-axis.

The attitude angle information (θnx, θny, θnz) of the bracket can also be expressed in another form, as shown in Figure 6B, using the angle between the projection of the bracket in the three-dimensional coordinate system and the three axes x, y, and z Indicates θnx, θny, θnz.

403. The control device determines a first curve according to the position information of each support, where the first curve is used to describe the position distribution of each support.

The position information of each support is the coordinates of each support, and the coordinates of the nth support in the straightening direction can be expressed as (Xn, Yn, Zn).

If there are n supports, the coordinates of each support on the y-axis can be expressed as (X1, Y1, Z1), (X2, Y2, Z2), . . . , (Xn, Yn, Zn). The first curve may be a curve formed by connecting coordinate points of n supports.

The first curve can be understood with reference to FIG. 7A . As shown in FIG. 7A , the coordinate points of each bracket can be connected by a straight line. The first curve provided in the embodiment of the present application is not limited to the manner shown in FIG. 7A , and may also be a curve obtained by fitting the coordinates of each bracket.

404. If the maximum peak value or maximum valley value in the straightening direction in the first curve exceeds the first threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold, the control device determines that each The position information of the bracket in the straightening direction, and the first difference between the first target value corresponding to each bracket in the straightening direction.

In the embodiment of the present application, if the maximum peak value or the maximum valley value in the straightening direction in the first curve does not exceed the first threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction does not exceed the second threshold, Then the step of determining the first difference and the first adjustment amount is not performed.

In the embodiment of the present application, condition 1: the maximum peak value or maximum valley value in the straightening direction in the first curve exceeds the first threshold, or condition 2: the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds second threshold. Among them, only one of condition 1 and condition 2 needs to be selected, and these two conditions can be a pre-configured one, and condition 1 is configured in the control device, and condition 1 is executed during operation. Condition 2 is configured in the control device, and condition 2 is executed at runtime.

The first threshold and the second threshold may be preconfigured values, such as: 1 cm to 50 cm, or other values, if the maximum peak value or the maximum valley value in the straightening direction in the first curve does not exceed the first threshold value, or The difference between the maximum peak value and the maximum trough value in the straightening direction does not exceed the second threshold, which means that the current support array is relatively straight and does not need to perform straightening processing, which can save time for straightening and improve the shearer. work efficiency.

In the embodiment of the present application, the first difference is the difference between the first target value and the coordinate value of the bracket in the straightening direction. The difference can be positive or negative. A positive value means the same as the straightening direction, and a negative value Indicates that it is opposite to the straightening direction. Taking the straightening direction as the y-axis as an example, the coordinate of the nth support in the y-axis direction is Yn, and the corresponding first target value is Fn, then the first difference=Fn-Yn. The first target value of each bracket can also be represented by a straight line, as shown in Figure 7B, the straight line F represents the straight line where the first target value of each bracket is located, and the straight line F shown in Figure 7B is parallel to the x-axis Yes, in fact, the straight line F can also be angled with respect to the x-axis, not limited to the way shown in FIG. 7B. The first difference of each bracket is the distance from the coordinate point of each bracket to the straight line F.

405. The control device determines the quotient of the first difference value of each support and the cosine data of each support in the straightening direction as the first adjustment amount.

Wherein, the cosine data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the heading of each bracket in the straightening direction in the B brackets The cosine of the angle, the second cosine is the cosine of the roll angle of each bracket in the B brackets in the straightening direction, the third cosine is the cosine of the pitch angle of each bracket in the B brackets in the straightening direction, and the heading Angle, roll angle, and pitch angle are included in the attitude angle information of each bracket in the B brackets.

In the embodiment of the present application, the first adjustment amount=(Fn-Yn)/cosine data, the first cosine=cosθny, the second cosine=cosθnz, the third cosine=cosθnx, and the cosine data can be cosθny or cosθny.cosθnz, cosθny.cosθnx or cosθny.cosθnz.cosθnx, where "." represents the multiplication sign. When calculating the first adjustment amount, the present application takes into account various angle factors that may be affected by the bracket, so that the calculated first adjustment amount is more accurate, and further improves the alignment accuracy of the bracket array.

406. The control device determines the coordinate information of each target node according to the position information of each support, the protruding length value of the push rod of each support, and the attitude angle information of each support.

In the embodiment of the present application, the coordinates of a bracket are (Xn, Yn, Zn), the posture information is (θnx, θny, θnz), the length of the push rod is dn, and the coordinate information of the corresponding target node is (an, bn, cn), taking the y-axis direction as an example, bn=Yn+dn/cosθny. an=Xn+dn/cosθnx, cn=Zn+dn/cosθnz.

407. The control device determines a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node.

The target node is the node connected with the push rod on the bracket on the scraper machine. The second curve can be understood with reference to FIG. 7A of the first curve.

408. If the maximum peak value or maximum valley value in the straightening direction in the second curve exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, the control device determines that every The second difference between the coordinate information of each target node in the straightening direction and the second target value corresponding to each target node in the straightening direction.

In the embodiment of the present application, if the maximum peak value or the maximum valley value in the straightening direction in the second curve does not exceed the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction does not exceed the fourth threshold, Then the step of determining the second difference and the second adjustment amount is not performed.

In the embodiment of the present application, condition 3: the maximum peak value or maximum valley value in the straightening direction in the second curve does not exceed the third threshold, or condition 4: the difference between the maximum peak value and the maximum valley value in the straightening direction The fourth threshold is not exceeded. Among them, only one of condition 3 and condition 4 needs to be selected, and these two conditions can be a pre-configured one, and condition 3 is configured in the control device, and condition 3 is executed during operation. Condition 4 is configured in the control device, and condition 4 is executed at runtime.

The third threshold and the fourth threshold can be pre-configured values, such as: 1 cm to 50 cm, or other values, if the maximum peak or maximum valley value in the second curve does not exceed the third threshold, or in the straightening direction The difference between the maximum peak value and the maximum valley value does not exceed the fourth threshold, which means that the current scraper is relatively straight and does not need to be straightened, which can save time for straightening and improve the working efficiency of the shearer .

In the embodiment of the present application, the second difference is the difference (En-bn) between the second target value En and bn. The difference can be positive or negative. A positive value means the same direction as the straightening direction, and a negative value means Opposite to straightening direction. The calculation method of the second difference can be understood by referring to the calculation method of the first difference, and can also be understood by referring to FIG. 7B .

409. The control device determines the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction as the second adjustment amount.

Wherein, the cosine data includes the fourth cosine, or the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine, and the fourth cosine is the straightening direction of the push rod connected to each target node The cosine of the heading angle, the fifth cosine is the cosine of the roll angle of the push rod connected to each target node in the straightening direction, and the sixth cosine is the roll angle of the push rod connected to each target node in the straightening direction The cosine of the pitch angle, heading angle, roll angle, and pitch angle are included in the attitude angle information of the push rod connected to each target node, and the attitude angle information of the push rod connected to each target node is the bracket where the push rod is located attitude angle information.

In the embodiment of the present application, because the attitude angle information of the push rod is the same as that of the bracket, the fourth cosine is the same as the first cosine, the fifth cosine is the same as the second cosine, and the sixth cosine is the same as the first cosine. The three cosines are the same. The fourth cosine=cosθny, the fifth cosine=cosθnz, the sixth cosine=cosθnx, the cosine data can be cosθny, cosθny.cosθnz, cosθny.cosθnx or cosθny.cosθnz.cosθnx. The present application takes into account various angle factors that may be affected by the push rod when calculating the second adjustment amount, so that the calculated second adjustment amount is more accurate, and further improves the straightening accuracy of the scraper machine.

410. The control device sends the corresponding first adjustment amount and/or the second adjustment amount to each bracket.

Then the bracket moves according to the first adjustment amount to straighten the bracket array, and/or pushes and slides according to the second adjustment amount to straighten the scraper.

In the embodiment of the present application, if only the bracket array needs to be straightened, only the first adjustment amount needs to be determined, and the second adjustment amount does not need to be determined, and steps 406 to 409 do not need to be performed. If it is only necessary to straighten the scraper, only the second adjustment amount needs to be determined, and the first adjustment amount does not need to be determined, so steps 403 to 405 do not need to be performed. If it is necessary to straighten both the bracket array and the scraper, it is necessary to determine the first adjustment amount and the second adjustment amount.

In addition, in the embodiment of the present application, two adjacent brackets in the bracket array can push the other bracket to rotate by a certain angle through the driving mechanisms on both sides. For example, if the straightening direction is the y-axis direction, then the x-axis direction can The push rod of the stent is used to push the adjacent stent to rotate, so as to adjust the angular rotation of the stent in the stent array.

This process can be that the control device determines the compensation value of the heading angle of each bracket according to the measured value of the heading angle of each bracket in the straightening direction and the target value of the heading angle in the straightening direction; The adjacent brackets send the compensation value corresponding to the heading angle, which is used for the adjacent brackets to adjust the position of each bracket, so as to adjust each bracket to the target value of the heading angle.

It should be noted that in the embodiment of the present application, the compensation value of the course angle includes the compensation value of the angle and the displacement compensation value of the push rod that pushes the adjacent support. If the direction parallel to the coal surface is the x-axis, the push rod of the adjacent support Push rods generally refer to push rods in the x-axis direction. Wherein, the compensation value of the angle can be the difference between the target value of the heading angle and the measured value of the heading angle, and the pushing compensation value of the push rod can be determined according to the length of the bottom plate of the bracket in the Y-axis direction and the compensation value of the angle. The distance that the bracket needs to move in the x-axis direction.

From the above description, it can be seen that the embodiment of the present application can straighten the scraper machine and/or the bracket array and adjust the heading angle by monitoring the straightness of the target node of the support array and the scraper machine, as shown in Figure 8A to Figure 8D below Demonstrate the straightening and adjustment process.

As shown in FIG. 8A , there are n brackets in the bracket array, and the position information of each bracket can be represented by three-dimensional coordinates, and the specific representation method can refer to the above introduction. It can be seen from the straightness monitoring stent array diagram that both the first curve and the second curve are curves. Then the scraper machine and/or bracket array can be straightened according to the previous scheme.

If the scraper is straightened first, the effect shown in Figure 8B can be obtained on the basis of Figure 8A. The second curve becomes a straight line, indicating that the scraper is straightened.

Then adjust the bracket array on the basis of Figure 8B, or adjust the bracket array and the scraper at the same time on the basis of Figure 8A, you can get the effect shown in Figure 8C, not only the second curve becomes a straight line, the first curve It also becomes a straight line, indicating that both the scraper and the bracket array are straightened.

On the basis of Figure 8C, further adjust the brackets in the bracket array, that is, the course angle adjustment of the brackets can be understood by referring to Figure 8D, as shown in Figure 8D, through the push rods and Its driving mechanism (not shown in the figure) can adjust the heading angle.

The above-mentioned adjustment process from Figure 8A to Figure 8D can be based on the coordinates (xn, yn, zn) of the control device, the three-dimensional posture (θx, θy, θz), and the coordinates of the target node of the scraper (an, bn ,cn), to obtain the distribution state of the bracket array and the scraper machine in space. Let the x-axis be the direction parallel to the coal surface, the y-axis be the direction vertical to the coal surface, and the z-axis be the XY direction vertical to the horizontal plane, and XYZ satisfy the right-hand rule. This embodiment takes straightening in the Y-axis direction as an example, that is, fitting the straightness of the Y-axis coordinates of the target nodes of the bracket array and the scraper machine, and judging the maximum difference of the Y-axis coordinates, which are recorded as H and K respectively, to realize real-time alignment. Monitor directly.

When the straightening monitoring obtains H greater than 50cm, the bracket array can be straightened by compensating with the machine, that is, the Y-axis coordinates of the bracket array are aligned, so that H<G, G is the target value of straightening, and the range can be 0 to 50cm . Set the target Y-axis coordinate value, calculate the difference L between the Y-axis coordinate of the support and the target value, and then obtain the compensation amount of the follower frame for each support. The follower frame can adjust the positive and negative distances by lowering the frame and telescopic push rod. The telescopic amount of the push rod (dns–dn) is equal to L divided by the cosine of the heading angle. When the ground is uneven, it must be further divided by the cosine of the roll and pitch angles.

When the straightening monitoring obtains K greater than 50cm, the scraper machine can be straightened through the bracket pushing compensation, that is, the Y-axis coordinates of the scraper machine nodes are aligned, so that K<G, G is the target value of straightening, and the range can be 0~50cm. Set the target Y-axis coordinate value, calculate the difference T between the Y-axis coordinate of the scraper node and the target value, and then obtain the push rod push compensation amount of each scraper node. When the bracket is supported, the adjustment of the positive and negative distances of the push rod can be realized through the telescopic movement of the push rod. The telescopic amount of the push rod (dnt–dn) is equal to T divided by the cosine of the heading angle. When the ground is uneven, it must be further divided by the cosine of the roll and pitch angles.

When the cycle straightness monitoring and driving follower pull frame, push and slide straightening process until H<G, K<G, it is closed-loop straightening. Another method is to set the target position of the bracket array and the scraper machine. The target position meets the above straightness requirements, and as the system control target, the closed-loop drive is followed by the machine pulling frame and pushing through the position and attitude information of the bracket and scraper machine nodes. , to ensure that the rack array and the scraper machine reach the target position and meet the straightness requirements after each follow-up frame pulling and pushing is completed. This process belongs to simultaneous straightening during the process of controlling the working movement of the bracket and scraper machine.

The solution provided by the embodiment of the present application can realize the automatic alignment of the bracket array and/or the scraper machine through the position information and attitude angle information of each bracket in the direct array, and the alignment accuracy is very high.

2. The control device controls the spaced brackets in the bracket array to perform straightening of the bracket array and/or the straightening of the scraper machine.

In the embodiment of the present application, the IMU and the travel sensor can be installed at even intervals. As shown in FIG. 9 , the IMU and the travel sensor are installed on every M brackets, and the value of M usually ranges from 0 to 20. There are nM brackets in Figure 9, so that the position information and attitude angle information of n brackets can be obtained, and then the bracket array and/or the scraper machine can be straightened. For the specific straightening process, please refer to the previous part of Figure 5 to Figure 8D The introduction is understood, and the introduction will not be repeated here.

FIG. 9 uses uniform intervals as an example for introduction. In the embodiment of the present application, the method is not limited to uniform intervals, and may also be uneven intervals.

The method of installing the IMU and the stroke sensor at intervals provided by the embodiment of the present application can reduce the hardware cost and achieve the effect of straightening the bracket array and/or the scraper.

The straightening method of the multi-node equipment and the support in the fully mechanized mining face system have been introduced above, and the control equipment provided by the embodiment of the present application will be introduced below.

As shown in Figure 10, the control device 50 provided by the embodiment of the present application is included in the fully mechanized mining face system, and the control device is included in the fully mechanized mining face system. A bracket, wherein, each bracket in the A brackets is connected to the scraper machine through a push rod, A is an integer greater than 1, and the control device includes:

The acquiring unit 501 is configured to acquire position information and attitude angle information of B brackets in the bracket array, where B=A, or B brackets are distributed in A brackets at intervals, and B is a positive integer. The obtaining unit 501 may execute steps 201 and 401 in the foregoing method embodiments.

The processing unit 502 is configured to determine the B brackets according to the position information and attitude angle information of each bracket in the B brackets acquired by the acquisition unit 501, and the first target value corresponding to each bracket in the B brackets in the straightening direction The first adjustment amount of each bracket in the B brackets, and/or, according to the position information and attitude angle information of each bracket in the B brackets, the length value of the push rod of each bracket in the B brackets, and the straightening method Up to the second target value corresponding to each target node, determine the second adjustment amount of each target node, the target node is the connection point between the push rod of each bracket in the B brackets and the scraper machine. The processing unit 502 may execute steps 202 and 402-409 in the foregoing method embodiments.

The sending unit 503 is configured to send the first adjustment amount and/or the second adjustment amount determined by the corresponding processing unit 502 to each bracket in the B brackets, the first adjustment amount is used for each bracket in the B brackets in the straightening direction The rack moves upwards to straighten the bracket array, and the second adjustment amount is used to push the push rods connected to each target node to straighten the scraper. The sending unit 503 may execute steps 203 and 410 in the foregoing method embodiments.

Optionally, each bracket in the B brackets is provided with an inertial measurement unit IMU and a travel sensor, and the travel sensor is arranged on the drive mechanism of the push rod; the IMU is used to measure the angular velocity information and acceleration information of the bracket, angular velocity information and acceleration The information is used to control the equipment to determine the attitude angle information and position information of the bracket; the travel sensor is used to measure the rack displacement information and push displacement information of the bracket, and the rack displacement information and push displacement information are combined with attitude angle information and position information to control the equipment Determine the coordinate information of the target node on the scraper.

Optionally, the processing unit 502 is configured to: determine the position information of each of the B brackets in the straightening direction, and the first difference from the first target value corresponding to each of the B brackets in the straightening direction ; The first difference of each bracket in the B brackets, and the quotient of the cosine data of each bracket in the straightening direction in the B brackets are determined as the first adjustment amount; wherein the cosine data includes the first cosine, or , the product of the first cosine and at least one of the second cosine and the third cosine, the first cosine is the cosine of the heading angle of each bracket in the straightening direction in the B brackets, and the second cosine is the B brackets The cosine of the roll angle of each bracket in the straightening direction, the third cosine is the cosine of the pitch angle of each bracket in the B brackets in the straightening direction, the heading angle, roll angle, and pitch angle are included in B In the attitude angle information of each bracket in a bracket.

Optionally, the processing unit 502 is further configured to: determine the first curve according to the position information of each bracket in the B brackets, the first curve is used to describe the position distribution of the B brackets; if the first curve is in the straightening direction If the maximum peak value or the maximum valley value exceeds the first threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the second threshold, the step of determining the first adjustment amount is executed.

Optionally, the processing unit 502 is configured to: according to the position information of each bracket in the B brackets, and the length value of the push rod of each bracket in the B brackets, and the attitude angle of each bracket in the B brackets information, determine the coordinate information of each target node; determine the coordinate information of each target node in the straightening direction, and the second difference between the second target value corresponding to each target node in the straightening direction; each The quotient of the second difference corresponding to the target node and the cosine data of each target node in the straightening direction is determined as the second adjustment amount; wherein, the cosine data includes the fourth cosine, or the fourth cosine and the fifth cosine The product of at least one of the cosine and the sixth cosine, the fourth cosine is the cosine of the heading angle of the push rod connected to each target node in the straightening direction, and the fifth cosine is the The cosine of the roll angle of the stick in the straightening direction, the sixth cosine is the cosine of the pitch angle of the push rod connected to each target node in the straightening direction, the heading angle, roll angle, and pitch angle are included in each target Among the attitude angle information of the push rod connected to the node, the attitude angle information of the push rod connected to each target node is the attitude angle information of the bracket where the push rod is located.

Optionally, the processing unit 502 is further configured to: determine a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node; if the maximum in the straightening direction in the second curve If the peak value or the maximum valley value exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value in the straightening direction exceeds the fourth threshold, the step of determining the second adjustment amount is executed.

Optionally, the processing unit 502 is further configured to: determine each of the B brackets according to the measured value of the heading angle of each bracket in the straightening direction and the target value of the heading angle in the straightening direction. The compensation value of the heading angle.

The sending unit 503 is also used to send the compensation value of the corresponding heading angle to the adjacent brackets of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust the position of each bracket in the B brackets, so that B Each of the two brackets is adjusted to the target value of the heading angle.

Above, the relevant content of the control device 50 provided in the embodiment of the present application can be understood by referring to the corresponding content in the foregoing method embodiment, and will not be repeated here.

FIG. 11 is a schematic diagram of a possible logical structure of the control device 60 provided by the embodiment of the present application. The control device 60 includes: a processor 601 , a communication interface 602 , a memory 603 , a disk 604 and a bus 605 . Processor 601, communication interface 602, memory 603, and disk 604 are connected to each other through bus 605. In the embodiment of the present application, the processor 601 is used to control and manage the actions of the control device 60 , for example, the processor 601 is used to execute the steps in the method embodiments in FIGS. 1 to 9 . The communication interface 602 is used to support the control device 60 to communicate. The memory 603 is used to store program codes and data of the control device 60 and provide memory space for processes or threads. Disk user stores physical pages swapped out from memory.

Wherein, the processor 601 may be a central processing unit, a general processor, a digital signal processor, an application specific integrated circuit, a field programmable gate array or other programmable logic devices, transistor logic devices, hardware components or any combination thereof. It can implement or execute the various illustrative logical blocks, modules and circuits described in connection with the present disclosure. The processor 601 may also be a combination that implements computing functions, for example, a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and the like. The bus 605 may be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (Extended Industry Standard Architecture, EISA) bus, etc. The bus can be divided into address bus, data bus, control bus and so on. For ease of representation, only one thick line is used in FIG. 11 , but it does not mean that there is only one bus or one type of bus.

In another embodiment of the present application, a computer-readable storage medium is also provided, and computer-executable instructions are stored in the computer-readable storage medium. When the processor of the device executes the computer-executable instructions, the device executes the above-mentioned Figs. Steps performed by the control device in FIG. 9 .

In another embodiment of the present application, a computer program product is also provided, the computer program product includes computer-executable instructions stored in a computer-readable storage medium; when the processor of the device executes the computer-executable instructions , the device executes the steps performed by the control device in FIGS. 1 to 9 above.

In another embodiment of the present application, a chip system is further provided, and the chip system includes a processor, and the processor is used to control the device to implement the steps performed by the control device in the foregoing FIGS. 1 to 9 . In a possible design, the system-on-a-chip may further include a memory, and the memory is used to store necessary program instructions and data for controlling the device. The system-on-a-chip may consist of chips, or may include chips and other discrete devices.

Those skilled in the art can appreciate that the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed by hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be regarded as exceeding the scope of the embodiments of the present application.

Those skilled in the art can clearly understand that for the convenience and brevity of the description, the specific working process of the above-described system, device and unit can refer to the corresponding process in the foregoing method embodiment, which will not be repeated here.

In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed systems, devices and methods may be implemented in other ways. For example, the device embodiments described above are only illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of devices or units may be in electrical, mechanical or other forms.

A unit described as a separate component may or may not be physically separated, and a component shown as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.

If the functions are realized in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments of the embodiments of the present application. The aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disc and other media that can store program codes. .

Claims

A method for straightening multi-node equipment, characterized in that the method is applied to a fully mechanized mining face system, and the fully mechanized mining face system includes a bracket array, a scraper machine and control equipment, and the bracket array includes A brackets, Wherein, each bracket in the A brackets is connected to the scraper machine through a push rod, the A is an integer greater than 1, and the method includes:

The control device acquires position information and attitude angle information of B brackets in the bracket array, where B=A, or, the B brackets are distributed among the A brackets at intervals, and B is a positive integer ;

The control device determines, according to the position information and attitude angle information of each bracket in the B brackets, and the first target value corresponding to each bracket in the B brackets in the straightening direction, The first adjustment amount of each bracket, and/or, according to the position information and attitude angle information of each bracket in the B brackets, the length value of the push rod of each bracket in the B brackets, and The second target value corresponding to each target node in the straightening direction determines the second adjustment amount of each target node, and the target node is the push rod of each bracket in the B brackets and the The connection point of the scraper machine;

The control device sends the corresponding first adjustment amount and/or the second adjustment amount to each of the B racks, and the first adjustment amount is used for each of the B racks The frame is moved in the straightening direction to straighten the bracket array, and the second adjustment amount is used to push the push rod connected to each target node in the straightening direction to straighten The scraper.
The method according to claim 1, wherein an inertial measurement unit (IMU) and a stroke sensor are arranged on each of the B brackets, and the stroke sensor is arranged on the drive mechanism of the push rod;

The IMU is used to measure the angular velocity information and acceleration information of the support, and the angular velocity information and the acceleration information are used to control the device to determine the attitude angle information and position information of the support;

The stroke sensor is used to measure the frame displacement information and the push displacement information of the support, and the frame displacement information and the push displacement information are combined with the attitude angle information and the position information for the control device to determine Coordinate information of the target node on the scraper.
The method according to claim 1 or 2, wherein the control device is based on the position information and attitude angle information of each bracket in the B brackets, and each of the B brackets in the straightening direction The first target value corresponding to the bracket determines the first adjustment amount of each bracket in the B brackets, including:

The control device determines the position information of each of the B brackets in the straightening direction, and the first target value corresponding to each of the B brackets in the straightening direction first difference;

The control device determines the quotient of the first difference of each of the B brackets and the cosine data of each of the B brackets in the straightening direction as the first adjustment quantity;

Wherein, the cosine data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the B The cosine of the yaw angle of each bracket in the B brackets in the straightening direction, the second cosine is the cosine of the roll angle of each bracket in the B brackets in the straightening direction, and the second cosine is the cosine of the roll angle of each bracket in the B brackets in the straightening direction. The three cosines are the cosines of the pitch angle of each bracket in the B brackets in the straightening direction, the heading angle, the roll angle, and the pitch angle are included in each of the B brackets In the attitude angle information of the bracket.
The method according to any one of claims 1-3, wherein the method further comprises:

The control device determines a first curve according to the position information of each of the B brackets in the straightening direction, and the first curve is used to describe the position of the B brackets in the straightening direction distributed;

If the maximum peak value or the maximum valley value in the straightening direction in the first curve exceeds a first threshold, or the difference between the maximum peak value and the maximum valley value exceeds a second threshold, the control device executes A step of determining the first adjustment amount.
The method according to claim 1 or 2, wherein the control device is based on the position information and attitude angle information of each bracket in the B brackets, the push rod extension of each bracket in the B brackets The length value obtained, and the second target value corresponding to each target node in the straightening direction, determine the second adjustment amount of each target node, including:

The control device is based on the position information of each bracket in the B brackets, the length value of the push rod of each bracket in the B brackets, and the attitude angle of each bracket in the B brackets. Information, determine the coordinate information of each target node;

The control device determines a second difference between coordinate information of each target node in the straightening direction and a second target value corresponding to each target node in the straightening direction;

The control device determines the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction as the second adjustment amount;

Wherein, the cosine data includes the fourth cosine, or the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine, and the fourth cosine is the product of each The cosine of the heading angle of the push rod connected to each target node in the straightening direction, and the fifth cosine is the cosine of the roll angle of the push rod connected to each target node in the straightening direction , the sixth cosine is the cosine of the pitch angle of the push rod connected to each target node in the straightening direction, the heading angle, the roll angle, and the pitch angle are included in the In the attitude angle information of the push rod connected to each target node, the attitude angle information of the push rod connected to each target node is the attitude angle information of the bracket where the push rod is located.
The method according to claim 5, wherein the method further comprises:

The control device determines a second curve according to the coordinate information of each target node, and the second curve is used to describe the position distribution of each target node in the straightening direction;

If the maximum peak value or the maximum valley value in the straightening direction in the second curve exceeds the third threshold, or the difference between the maximum peak value and the maximum valley value exceeds the fourth threshold, the control device executes A step of determining the second adjustment amount.
The method according to any one of claims 1-6, wherein the method further comprises:

The control device determines, according to the measured value of the course angle of each support in the B supports in the straightening direction, and the target value of the course angle in the straightening direction, that among the B supports The compensation value of the heading angle of each support;

The control device sends a compensation value corresponding to a heading angle to an adjacent bracket of each of the B brackets, and the compensation value of the heading angle is used by the adjacent bracket to adjust each bracket of the B brackets position, so as to adjust each of the B brackets to the target value of the heading angle.
A support in a fully mechanized mining face system, characterized in that, the support is provided with an inertial measurement unit IMU and a travel sensor, and the travel sensor is arranged on the driving mechanism of the push rod of the support;

The IMU is used to measure the angular velocity information and acceleration information of the support, and the angular velocity information and the acceleration information are used to control the device to determine the attitude angle information and position information of the support;

The stroke sensor is used to measure the frame displacement information and the push displacement information of the support, and the frame displacement information and the push displacement information are used in combination with the attitude angle information and the position information for the fully mechanized mining face The control equipment in the system determines the coordinate information of the target node on the scraper machine in the fully mechanized face system, and the target node is the connection point between the push rod of the support and the scraper machine.
The support according to claim 8, wherein the fully mechanized mining face system comprises a support array, and the support is one of the support arrays;

The attitude angle information and position information of the support are used by the control device to determine a first adjustment amount of the support in combination with a first target value of the support, and the first adjustment amount is used for the support to perform a frame movement, to straighten the array of stents;

The coordinate information of the target node is used by the control device to determine the second adjustment amount of the target node in combination with the second target value of the target node, and the second adjustment amount is used for the The push rod is pushed in the straightening direction to straighten the scraper.
The support according to claim 8 or 9, characterized in that the support is a hydraulic support, a pneumatic support or an electric support.
The bracket according to any one of claims 8-10, wherein the IMU is arranged on a base or a top beam of the bracket.
The bracket according to any one of claims 8-10, wherein the direction of one axis of the IMU is the same as the orientation of the stroke sensor.
A control device for straightening multi-node equipment, characterized in that the control device is included in a fully mechanized mining face system, and the fully mechanized mining face system also includes a bracket array and a scraper machine, and the bracket array includes A A bracket, wherein each bracket in the A brackets is connected to the scraper machine through a push rod, the A is an integer greater than 1, and the control device includes:

An acquisition unit, configured to acquire position information and attitude angle information of B brackets in the bracket array, where B=A, or, the B brackets are distributed among the A brackets at intervals, and B is positive integer;

A processing unit, configured to determine the position information and attitude angle information of each of the B brackets acquired by the acquisition unit, and the first target value corresponding to each of the B brackets in the straightening direction. The first adjustment amount of each bracket in the B brackets, and/or, according to the position information and attitude angle information of each bracket in the B brackets, the push rod of each bracket in the B brackets extends The length value of , and the second target value corresponding to each target node in the straightening direction, determine the second adjustment amount of each target node, and the target node is each bracket in the B brackets The connection point between the push rod and the scraper machine;

A sending unit, configured to send the corresponding first adjustment amount and/or the second adjustment amount determined by the processing unit to each of the B racks, the first adjustment amount is used for the B racks Each support in the support moves in the straightening direction to straighten the support array, and the second adjustment amount is used to push the push rod connected to each target node in the straightening direction. Slide to straighten the scraper.
The control device according to claim 13, wherein an inertial measurement unit (IMU) and a stroke sensor are arranged on each of the B brackets, and the stroke sensor is arranged on the driving mechanism of the push rod;

The IMU is used to measure the angular velocity information and acceleration information of the support, and the angular velocity information and the acceleration information are used to control the device to determine the attitude angle information and position information of the support;

The stroke sensor is used to measure the frame displacement information and the push displacement information of the support, and the frame displacement information and the push displacement information are combined with the attitude angle information and the position information for the control device to determine Coordinate information of the target node on the scraper.
A control device as claimed in claim 13 or 14, characterized in that

The processing unit is used for:

determining the first difference between the position information of each of the B brackets in the straightening direction and the first target value corresponding to each of the B brackets in the straightening direction ;

Determining the quotient of the first difference of each of the B brackets and the cosine data of each of the B brackets in the straightening direction as the first adjustment amount;

Wherein, the cosine data includes the first cosine, or the product of the first cosine and at least one of the second cosine and the third cosine, and the first cosine is the B The cosine of the yaw angle of each bracket in the B brackets in the straightening direction, the second cosine is the cosine of the roll angle of each bracket in the B brackets in the straightening direction, and the second cosine is the cosine of the roll angle of each bracket in the B brackets in the straightening direction. The three cosines are the cosines of the pitch angle of each bracket in the B brackets in the straightening direction, the heading angle, the roll angle, and the pitch angle are included in each of the B brackets In the attitude angle information of the bracket.
A control device according to any one of claims 13-15, characterized in that,

The processing unit is also used for:

Determining a first curve according to the position information of each bracket in the B brackets in the straightening direction, the first curve is used to describe the position distribution of the B brackets in the straightening direction;

If the maximum peak value or the maximum valley value in the straightening direction in the first curve exceeds a first threshold, or the difference between the maximum peak value and the maximum valley value exceeds a second threshold, then perform determination of the first curve. A volume adjustment step.
A control device as claimed in claim 13 or 14, characterized in that

The processing unit is used for:

According to the position information of each bracket in the B brackets, and the length value of the push rod of each bracket in the B brackets, and the attitude angle information of each bracket in the B brackets, determine each Coordinate information of a target node;

determining a second difference between the coordinate information of each target node in the straightening direction and a second target value corresponding to each target node in the straightening direction;

determining the quotient of the second difference corresponding to each target node and the cosine data of each target node in the straightening direction as the second adjustment amount;

Wherein, the cosine data includes the fourth cosine, or the product of the fourth cosine and at least one of the fifth cosine and the sixth cosine, and the fourth cosine is the product of each The cosine of the heading angle of the push rod connected to each target node in the straightening direction, and the fifth cosine is the cosine of the roll angle of the push rod connected to each target node in the straightening direction , the sixth cosine is the cosine of the pitch angle of the push rod connected to each target node in the straightening direction, the heading angle, the roll angle, and the pitch angle are included in the In the attitude angle information of the push rod connected to each target node, the attitude angle information of the push rod connected to each target node is the attitude angle information of the bracket where the push rod is located.
A control device according to claim 17, characterized in that

The processing unit is also used for:

determining a second curve according to the coordinate information of each target node, where the second curve is used to describe the position distribution of each target node in the straightening direction;

If the maximum peak value or the maximum valley value in the straightening direction in the second curve exceeds a third threshold, or the difference between the maximum peak value and the maximum valley value exceeds a fourth threshold, then perform determination of the first Two steps to adjust the volume.
A control device according to any one of claims 13-18, characterized in that,

The processing unit is further configured to: according to the measured value of the heading angle of each of the B brackets in the straightening direction, and the target value of the heading angle in the straightening direction, determine the The compensation value of the heading angle of each bracket in the B brackets;

The sending unit is further configured to send a compensation value corresponding to a heading angle to an adjacent bracket of each bracket in the B brackets, and the compensation value of the heading angle is used for the adjacent brackets to adjust the B brackets Each bracket position in the B brackets is used to adjust each bracket in the B brackets to the target value of the heading angle.
A computer-readable storage medium on which a computer program is stored, wherein the computer program implements the method according to any one of claims 1-7 when executed by one or more processors.
A control device, characterized by comprising one or more processors and a computer-readable storage medium storing a computer program;

The computer program implements the method according to any one of claims 1-7 when executed by the one or more processors.
A chip system, characterized by comprising one or more processors, and the one or more processors are invoked to execute the method according to any one of claims 1-7.
A computer program product, characterized by comprising a computer program, the computer program is used to implement the method according to any one of claims 1-7 when executed by one or more processors.
A fully mechanized mining face system, characterized in that it includes a bracket array, a scraper machine, a shearer and control equipment, the bracket array includes A brackets, wherein each bracket in the A brackets is pushed The rod is connected with the scraper machine, the coal shearer runs on the scraper machine, the A is an integer greater than 1, and the control device is used to implement the method described in any one of claims 1-7. method.