阅读说明：本技术 一种液压支架与刮板输送机的推移机构运动规划方法 (Movement planning method for pushing mechanism of hydraulic support and scraper conveyor ) 是由 谢嘉成 李素华 王学文 任芳 崔涛 焦秀波 蔡宁 童梦瑶 于 2021-03-24 设计创作，主要内容包括：本发明提供了一种液压支架与刮板输送机的推移机构运动规划方法,在液压支架上内嵌相关传感器获得的实时信息,采煤机截割过后,应用路径分割技术后利用笛卡尔路径规划方法对推移机构各结构的运动进行规划,得到基于各结构关键点的三维坐标关于时间维的运动规律,利用高斯滤波修正方法进行处理,得到最终修正轨迹。将获得的运动规律应用于Unity3D创建的煤层与虚拟煤机装备联合仿真系统中,将实时传感信息通过Unity3D中预留的接口接入虚拟环境进行联合规划,最终得到推移机构的规划后的运动。通过本发明,能够对推移机构各结构的运动进行规划,建立虚拟环境下液压支架与刮板输送机的协同推进与真实井下环境下的映射关系。(The invention provides a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor, which is characterized in that real-time information obtained by a relevant sensor is embedded in the hydraulic support, after a coal mining machine cuts the hydraulic support, the movement of each structure of the pushing mechanism is planned by using a Cartesian path planning method after a path segmentation technology is applied, the movement rule of three-dimensional coordinates of each structure key point with respect to a time dimension is obtained, and a Gaussian filtering correction method is used for processing to obtain a final correction track. And applying the obtained motion rule to a coal seam and virtual coal machine equipment combined simulation system created by the Unity3D, accessing the real-time sensing information to a virtual environment through an interface reserved in the Unity3D for combined planning, and finally obtaining the planned motion of the pushing mechanism. By the method and the device, the movement of each structure of the pushing mechanism can be planned, and the mapping relation between the cooperative propulsion of the hydraulic support and the scraper conveyor in the virtual environment and the real underground environment is established.)

1. A method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor is characterized by comprising the following steps:

when a pushing mechanism of the hydraulic support and a scraper conveyor starts to push, eliminating a pin lug gap between the hydraulic support and the scraper conveyor by adopting a pin lug gap compensation method, and acquiring real-time induction information of an embedded sensor on the hydraulic support; the embedded sensor at least comprises an infrared distance meter arranged on a base of the hydraulic support, inclination angle sensors embedded in two sides of the base and a gyroscope embedded in the push rod;

after the coal mining machine cuts, the hydraulic support timely pushes the scraper conveyor for a certain distance, a path segmentation technology is applied for segmentation, and the motion of each structure of the pushing mechanism is planned by using a Cartesian path planning method to obtain a motion rule of a three-dimensional coordinate on the basis of a structure key point with respect to a time dimension;

processing by a Gaussian filtering correction method to obtain a final correction track;

and applying the obtained motion rule to a coal seam and virtual coal machine equipment combined simulation system created by the Unity3D, accessing the real-time sensing information to a virtual environment through an interface reserved in the Unity3D for combined planning, and finally obtaining the planned motion of the pushing mechanism.

2. The method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor according to claim 1, wherein the pin-ear clearance compensation method is to measure the relative position of the hydraulic support and the scraper conveyor by using an infrared distance meter, and measure the position of the connecting head when the hydraulic support and the scraper conveyor are not pushed and the position of the connecting head when the hydraulic support and the scraper conveyor are just pushed; when the infrared distance measurement result is not changed, the infrared distance measurement result is used as an initial mark during transition, when the infrared distance measurement result starts to change, the transition is started, the hydraulic support is shifted by a set distance, and therefore the pin ear gap is compensated.

3. The method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor according to claim 1, wherein the path dividing technology is to divide the whole path into a plurality of segments and use a series of low-order polynomials for splicing to obtain the whole movement trajectory formula when the initial position and the final position of the connecting head between the hydraulic support and the scraper conveyor are known;

a path of an nth order polynomial q (t) ═ a₀+a₁t+a₂t²+...+a_ntⁿN +1 conditions are needed in the equation, the equation solution and the path smoothing are carried out through finite derivation of known point and position, speed, acceleration and jerk equations, and the following boundary conditions need to be considered in the whole motion track: q (t)₀)＝q₀，q(t₁)＝q₁，q(t₂)＝q₂，q(t₃)＝q₃，q(t₄)＝q₄，The path is divided into four segments: q. q.s₁(t)、q₂(t)、q₃(t) and q₄(t) analysis was carried out.

4. The method of claim 1, wherein the cartesian path is planned by a robot from a point in a certain timeMove to a pointEstablishing P according to the obtained X function expression related to time variation₁And point P₂Linear relation between the coordinates and the moving point of the functional expression of the coordinates y and z with respect to the time variableA functional expression of the coordinates y, z with respect to the time variable is obtained, expressed as:

5. the method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor according to claim 1, wherein the pushing mechanism is a floating connecting mechanism which is composed of a hydraulic oil cylinder, a piston rod, a pushing rod and a connector and is used for connecting the hydraulic support and the scraper conveyor;

the movement of the floating connection system has 4 degrees of freedom: in the pushing process, the piston rod moves in a telescopic mode along the axis direction of the piston rod, the pushing rod moves in a pitching mode around the axis direction of the connecting pin shaft, the pushing rod generates a yaw angle around the connecting pin shaft, and the connector generates a yaw angle around the axis direction of the pin shaft.

6. The method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor according to claim 5, wherein the movement locus of the pushing mechanism determined by the cartesian path planning fluctuates in a reasonable range due to the uncertainty of the movement of the floating connecting mechanism and the position limitation of the hydraulic support and the scraper conveyor, and the error between the movement locus of the pushing mechanism determined by the cartesian path planning and the actual movement locus of the pushing mechanism of the hydraulic support is processed by a gaussian filtering correction method: the Gaussian filtering correction method is linear filtering, and noise which is obeyed normal distribution is effectively suppressed by screening data of a high-probability generation area, carrying out weighted average and taking the arithmetic average value as filtering output.

7. The method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor according to claim 1, wherein the coal bed and virtual coal equipment combined simulation system is a virtual simulation system created in a Unity3D virtual environment, and is composed of a virtual cutting coal bed bottom plate model, a virtual hydraulic support group and a virtual scraper conveyor, and the virtual coal equipment is adaptively paved and pushed by installing a related physical engine on the virtual coal bed equipment and the coal bed;

the virtual cutting coal seam floor is a virtual cutting coal seam floor model established according to cutting information of a coal mining machine under a virtual environment;

the virtual hydraulic support is a virtual hydraulic support which is built in a virtual environment, has the same price as an actual hydraulic support, can be adaptively laid and propelled on a virtual coal seam floor, and can simulate the motion of a real hydraulic support;

the virtual scraper conveyer is equivalent to an actual scraper conveyer, is paved on a virtual bottom plate in a self-adaptive mode, and simulates the motion of a real scraper conveyer.

Technical Field

The invention relates to the technical field of path planning, in particular to a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor.

Background

Intelligent mining is the target of modern coal mining, and virtual mining is one of the keys for realizing mining intelligence. The floating connecting mechanism of the hydraulic support and the scraper conveyor has spatial motion with multiple degrees of freedom, and the motion of the floating connecting mechanism has an important role in cooperatively propelling the virtual fully-mechanized coal mining face, so that the motion of the floating connecting mechanism of the hydraulic support and the scraper conveyor needs to be planned in a virtual environment.

Application number CN202010102529.X discloses a method for describing postures of a hydraulic support and a floating connecting mechanism of a scraper conveyor, wherein a pushing mechanism is converted into an industrial robot model, each motion parameter relational expression of the floating connecting mechanism is determined based on an analytical method of inverse kinematics of an industrial robot, and due to the multi-solution of the inverse kinematics, the motion law of each structure of the floating connecting mechanism is determined by selecting an optimal solution according to the realization degree of motion law on the motion of a manipulator model and a progressive screening method step by step.

The application number is CN201811509303.0, and discloses a fully mechanized face hydraulic support push rod pose sensing device, a fully mechanized face hydraulic support push rod mechanism and a fully mechanized face hydraulic support push rod method.

Application number CN201910306404.6 discloses a push-slide process simulation experiment device under complicated ground condition in pit, hydraulic support base model and scraper conveyor model are connected through the pushing mechanism model and constitute, and pass the route structure model and realize scraper conveyor push-slide process, the pushing mechanism front end passes through the connector and links to each other with the conveyer, it is connected through pushing jack piston rod front end with hydraulic support base, and the cylinder body of pushing jack is articulated with it, can simulate the push-slide work through this pushing mechanism and push-slide to scraper conveyor, and detect out scraper conveyor's trajectory, carry out the trajectory correction.

According to the method, when motion parameters of each structure of the pushing mechanism are obtained, a plurality of electronic components such as sensors and cameras need to be installed, influence factors such as underground space, light limitation, electromagnetic interference wireless signals and the like are considered, the number of hydraulic supports is limited, the angle and the pushing distance of the pushing mechanism obtained by adopting the electronic components have certain difficulty, the motion characteristics of the pushing mechanism under the real condition are not considered, redundant calculation needs to be carried out when theoretical analysis is carried out, and the optimal solution determining process of the floating connecting mechanism is complex. At present, on the problem of cooperative propulsion of a hydraulic support and a scraper conveyor, when the hydraulic support pushes the scraper conveyor, the pushing mechanism moves freely, so that cooperative propulsion of a virtual fully-mechanized coal mining face is hindered, and therefore the movement of each structure of the pushing mechanism needs to be planned, and a mapping relation between the cooperative propulsion of the hydraulic support and the scraper conveyor in a virtual environment and a real underground environment is established.

Disclosure of Invention

In order to solve the technical problem, the pushing mechanism is converted into a manipulator model, a related sensor is embedded in a base of the hydraulic support, and the movement of each structure of the pushing mechanism is planned through virtual and real combination to obtain the movement of the floating connecting mechanism of the hydraulic support and the scraper conveyor.

In order to solve the technical problems, the invention provides the following technical scheme: a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor comprises the following steps:

when a pushing mechanism of the hydraulic support and a scraper conveyor starts to push, eliminating a pin lug gap between the hydraulic support and the scraper conveyor by adopting a pin lug gap compensation method, and acquiring real-time induction information of an embedded sensor on the hydraulic support; the embedded sensor at least comprises an infrared distance meter arranged on a base of the hydraulic support, inclination angle sensors embedded in two sides of the base and a gyroscope embedded in the push rod;

after the coal mining machine cuts, the hydraulic support timely pushes the scraper conveyor for a certain distance, a path segmentation technology is applied for segmentation, and the motion of each structure of the pushing mechanism is planned by using a Cartesian path planning method to obtain a motion rule of a three-dimensional coordinate on the basis of a structure key point with respect to a time dimension;

processing by a Gaussian filtering correction method to obtain a final correction track;

and applying the obtained motion rule to a coal seam and virtual coal machine equipment combined simulation system created by the Unity3D, accessing the real-time sensing information to a virtual environment through an interface reserved in the Unity3D for combined planning, and finally obtaining the planned motion of the pushing mechanism.

The pin lug clearance compensation method comprises the steps of measuring the relative position of a hydraulic support and a scraper conveyor by using an infrared distance meter, and measuring the position of a connector when the connector is not pushed and the position of the connector when the connector is just pushed; when the infrared distance measurement result is not changed, the infrared distance measurement result is used as an initial mark during transition, when the infrared distance measurement result starts to change, the transition is started, the hydraulic support is shifted by a set distance, and therefore the pin ear gap is compensated.

The path segmentation technology is that when the initial position and the final position of a connector between a hydraulic support and a scraper conveyor are known, the whole path is segmented into a plurality of segments, and a series of low-order polynomials are used for splicing to obtain a whole motion trajectory formula;

a path of an nth order polynomial q (t) ═ a₀+a₁t+a₂t²+…+a_ntⁿThe total n +1 conditions are required to solve the equation, with known points and positions, velocities, and summationsCarrying out equation solution and path smoothing on finite derivation of the velocity and acceleration equations, wherein the following boundary conditions need to be considered in the whole motion track: q (t)₀)＝q₀，q(t₁)＝q₁，q(t₂)＝q₂，q(t₃)＝q₃， q(t₄)＝q₄，The path is divided into four segments: q. q.s₁(t)、q₂(t)、 q₃(t) and q₄(t) analysis was carried out.

The Cartesian path planning method is that a manipulator carries out point following in a certain timeMove to a pointEstablishing P according to the obtained X function expression related to time variation₁And P₂Linear relation between points to obtain the function expression of coordinates y and z with respect to time variableA functional expression of the coordinates y, z with respect to the time variable is obtained, expressed as:

the pushing mechanism consists of a hydraulic oil cylinder, a piston rod, a pushing rod and a connector, and is a floating connecting mechanism used for connecting the hydraulic support and the scraper conveyor;

the movement of the floating connection system has 4 degrees of freedom: in the pushing process, the piston rod moves in a telescopic mode along the axis direction of the piston rod, the pushing rod moves in a pitching mode around the axis direction of the connecting pin shaft, the pushing rod generates a yaw angle around the connecting pin shaft, and the connector generates a yaw angle around the axis direction of the pin shaft.

The method comprises the following steps that the movement locus of the pushing mechanism determined by utilizing Cartesian path planning fluctuates in a reasonable range due to the uncertainty of the movement of the floating connecting mechanism and the position limitation of the hydraulic support and the scraper conveyor, and the error between the movement locus of the pushing mechanism determined by utilizing the Cartesian path planning and the actual movement locus of the pushing mechanism of the hydraulic support is processed by utilizing a Gaussian filtering correction method: the Gaussian filtering correction method is linear filtering, and noise which is obeyed normal distribution is effectively suppressed by screening data of a high-probability generation area, carrying out weighted average and taking the arithmetic average value as filtering output.

The coal bed and virtual coal machine equipment combined simulation system is a virtual simulation system established in a Unity3D virtual environment, and consists of a virtual cutting coal bed bottom plate model, a virtual hydraulic support group and a virtual scraper conveyor, and self-adaptive laying and propelling of the virtual coal machine equipment are realized by installing a related physical engine on the virtual coal machine equipment and a coal bed;

the virtual cutting coal seam floor is a virtual cutting coal seam floor model established according to cutting information of a coal mining machine under a virtual environment;

the virtual hydraulic support is a virtual hydraulic support which is built in a virtual environment, has the same price as an actual hydraulic support, can be adaptively laid and propelled on a virtual coal seam floor, and can simulate the motion of a real hydraulic support;

the virtual scraper conveyer is equivalent to an actual scraper conveyer, is adaptively paved on a virtual bottom plate, and simulates the motion of a real scraper conveyer.

Compared with the prior art, the movement planning method for the pushing mechanism of the hydraulic support and the scraper conveyor has the following beneficial effects:

(1) aiming at the multi-degree-of-freedom movement of the floating connection mechanism of the hydraulic support and the scraper conveyor, the movement planning is carried out by utilizing the kinematics knowledge of an industrial robot, and the movement planning plays an important role in analyzing the movement process of the scraper conveyor, researching the floating connection characteristic of the hydraulic support and the scraper conveyor and the relative relation between the position and the posture of the hydraulic support and the position and the posture of the scraper conveyor.

(2) The real-time sensing information is output to the virtual scene to plan the path of the pushing mechanism, and the planning result is fed back to the actual scene, so that the real-time sensing information guides the movement of each part of the pushing mechanism, the error between the planned path and the actual movement can be calculated in the virtual environment, and the virtual-real interaction is realized.

(3) The redundant calculation process is avoided, the movement rule obtained by fusing the sensing information and the kinematics knowledge can enable the movement of the pushing mechanism to be reasonable, the movement track of the pushing mechanism can be obtained quickly and efficiently, and the movement track of the scraper conveyor can be quickly obtained under the virtual environment, and the straightness of the scraper conveyor can be analyzed and planned.

(4) By means of the movement planning of the pushing mechanism, the movement tracks and the movement sequence of the hydraulic support and the scraper conveyor can be quickly previewed in a virtual environment, the whole-course simulation of the virtual operation process is achieved, and the real-time performance and the movement visualization of the operation process of the working face are achieved.

(5) According to the path planning of the single pushing mechanism, the movement track of the pushing mechanisms of the hydraulic support group can be obtained, the cutting process of the rear drum of the coal mining machine can be analyzed, the relation between the cutting path of the coal mining machine and the planned path is obtained, and the fluctuation of the cutting bottom plate can be changed by controlling the path of the cutting bottom plate of the coal mining machine, so that the bidirectional optimization of the cutting movement path of the pushing mechanisms and the coal mining machine is realized.

Drawings

The invention will be further described with reference to the accompanying drawings and examples, in which:

fig. 1 is a schematic flow chart of a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor provided by the invention.

Fig. 2 is a schematic installation diagram of a sensor of a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor provided by the invention.

Fig. 3 is a schematic diagram of a push mechanism equivalent manipulator model planned path of a push mechanism motion planning method of a hydraulic support and a scraper conveyor provided by the invention.

Fig. 4 is a schematic diagram of a path division technology of a pushing mechanism motion planning method of a hydraulic support and a scraper conveyor provided by the invention.

Fig. 5 is a cartesian path planning schematic diagram of a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor provided by the invention.

Fig. 6 is a schematic diagram of path optimization of a method for planning movement of a pushing mechanism of a hydraulic support and a scraper conveyor provided by the invention.

Fig. 7 is a process diagram of a process movement path virtual planning method for a process movement mechanism of a hydraulic support and scraper conveyor provided by the invention.

Fig. 8 is an X-coordinate planned trajectory curve of a hydraulic support connector key point of the method for planning the movement of the pushing mechanism of the hydraulic support and scraper conveyor provided by the invention.

Fig. 9 is a Y-coordinate planned trajectory curve of a key point of a hydraulic support connector in the method for planning the movement of a pushing mechanism of a hydraulic support and scraper conveyor.

Fig. 10 is a Z-coordinate planned trajectory curve of a hydraulic support connector key point of the method for planning the movement of the pushing mechanism of the hydraulic support and scraper conveyor.

Fig. 11 is a trajectory curve of x coordinate correction results of key points of a hydraulic support connector in the method for planning movement of a pushing mechanism of a hydraulic support and scraper conveyor provided by the invention.

Fig. 12 is a track curve of a joint correction result for a y coordinate of the method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor.

Fig. 13 is a track curve of a joint correction result for a z coordinate of the method for planning the movement of the pushing mechanism of the hydraulic support and the scraper conveyor.

Detailed Description

For a more clear understanding of the technical features, objects and effects of the present invention, embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

As shown in fig. 1, the present invention provides a method for planning the movement of a pushing mechanism of a hydraulic support and a scraper conveyor, comprising:

when a pushing mechanism of the hydraulic support and a scraper conveyor starts to push, eliminating a pin lug gap between the hydraulic support and the scraper conveyor by adopting a pin lug gap compensation method, and acquiring real-time induction information of an embedded sensor on the hydraulic support;

wherein, embedded sensor is at least including installing infrared distance meter on the hydraulic support base, embedded in the angular transducer of base both sides and the embedded gyroscope in pushing the pole. The mounting scheme of the sensor is shown in fig. 2.

After the coal mining machine cuts, the hydraulic support timely pushes the scraper conveyor for a certain distance, a path segmentation technology is applied to segmentation, and the motion of each structure of the pushing mechanism is planned by a Cartesian path planning method, so that the motion rule of the three-dimensional coordinate of the structure key point with respect to the time dimension is obtained.

Fig. 3 is a schematic diagram of a path planned by an equivalent manipulator model of a pusher jack, and the path between an initial position and a final position of a connecting head of the pusher jack is planned.

Processing by a Gaussian filtering correction method to obtain a final correction track;

and applying the obtained motion rule to a coal seam and virtual coal machine equipment combined simulation system created by the Unity3D, accessing the real-time sensing information to a virtual environment through an interface reserved in the Unity3D for combined planning, and finally obtaining the planned motion of the pushing mechanism.

The pin lug clearance compensation method comprises the steps of measuring the relative position of a hydraulic support and a scraper conveyor by using an infrared distance meter, and measuring the position of a connector when the connector is not pushed and the position of the connector when the connector is just pushed; when the infrared distance measurement result is not changed, the infrared distance measurement result is used as an initial mark during transition, when the infrared distance measurement result starts to change, the transition is started, the hydraulic support is shifted by a set distance, and therefore the pin ear gap is compensated.

The path segmentation technology is that when the initial position and the final position of a connector between a hydraulic support and a scraper conveyor are known, the whole path is segmented into a plurality of segments, and a series of low-order polynomials are used for splicing to obtain a whole motion trajectory formula;

FIG. 4 is a schematic diagram of a path division technique of a shift mechanism, where the path of an nth-order polynomial is q (t) ═ a₀+a₁t+a₂t²+…+a_ntⁿN +1 conditions are needed in the equation, the equation solution and the path smoothing are carried out through finite derivation of known point and position, speed, acceleration and jerk equations, and the following boundary conditions need to be considered in the whole motion track: q (t)₀)＝q₀，q(t₁)＝q₁，q(t₂)＝q₂，q(t₃)＝q₃，q(t₄)＝q₄， The path is divided into four segments: q. q.s₁(t)、q₂(t)、q₃(t) and q₄(t) analysis was carried out.

The contents of the above four fragments are shown in table 1:

table 1 schematic content of each segment formed by path cutting

FIG. 5 is a schematic representation of Cartesian path planning with a robot at a point in timeMove to a pointEstablishing P according to the obtained X function expression related to time variation₁And point P₂Linear relation between the coordinates and the moving point of the functional expression of the coordinates y and z with respect to the time variableA functional expression of the coordinates y, z with respect to the time variable is obtained, expressed as:

the pushing mechanism consists of a hydraulic oil cylinder, a piston rod, a pushing rod and a connector, and is a floating connecting mechanism used for connecting the hydraulic support and the scraper conveyor;

the movement of the floating connection system has 4 degrees of freedom: in the pushing process, the piston rod moves in a telescopic mode along the axis direction of the piston rod, the pushing rod moves in a pitching mode around the axis direction of the connecting pin shaft, the pushing rod generates a yaw angle around the connecting pin shaft, and the connector generates a yaw angle around the axis direction of the pin shaft.

Fig. 6 is a schematic diagram of path optimization, in which due to uncertainty of movement of the floating connection mechanism and position limitation of the hydraulic support and the scraper conveyor, a movement locus of the pushing mechanism determined by cartesian path planning fluctuates within a reasonable range, and an error between the movement locus and an actual movement locus of the pushing mechanism of the hydraulic support is processed by a gaussian filtering correction method: the Gaussian filtering correction method is linear filtering, and noise which is obeyed normal distribution is effectively suppressed by screening data of a high-probability generation area, carrying out weighted average and taking the arithmetic average value as filtering output.

The gaussian filtering correction method is formulated as:

wherein t refers to the coordinate value of the motion position of the connecting head, μ refers to the mean value of the random variables following normal distribution, σ is the standard deviation of the random variables, and n is the number of the obtained coordinate points of the motion position of the connecting head.

The whole planned track can be regarded as the concatenation of a plurality of gaussian functions, so that each path segment needs to be corrected, namely, gaussian correction is performed on a place with large fluctuation of the planned track, and the correction function r (x) is as follows:

where k is the number of path segments.

Fig. 7 is a flow chart of virtual path planning of a pushing mechanism, the contents in fig. 6 are programmed into a simulation system through a C # language, a coal seam and virtual coal machine equipment combined simulation system is established under a Unity3D virtual environment, a time module in Unity3D is called, sensing information is input in real time when a real-time virtual hydraulic support pushes a scraper conveyor, and a path of the pushing mechanism is planned by using time change.

The system consists of a virtual cutting coal seam floor model, a virtual hydraulic support group and a virtual scraper conveyor, and self-adaptive laying and propelling of virtual coal equipment are realized by installing a relevant physical engine on the virtual coal equipment and a coal seam;

the virtual cutting coal seam floor is a virtual cutting coal seam floor model established according to cutting information of a coal mining machine under a virtual environment; the model plays an important role in the posture of the scraper conveyor and is one of important influence factors of the path planning quality of the pushing mechanism.

The virtual hydraulic support is a virtual hydraulic support which is built in a virtual environment, has the same price as an actual hydraulic support, can be adaptively laid and propelled on a virtual coal seam floor, and can simulate the motion of a real hydraulic support;

the virtual scraper conveyer is equivalent to an actual scraper conveyer, is adaptively paved on a virtual bottom plate, and simulates the motion of a real scraper conveyer.

And selecting the No. 1 hydraulic support and the corresponding middle groove as a research object. After the group of hydraulic supports push the scraper conveyor, the pushing time is 0.33s, the time is divided into four time periods of (0s,0.06s), (0.06s,0.15s), (0.15s,0.24s) and (0.24s,0.33s), the function relation of the x coordinate value of the middle groove relative to the time is calculated in the limited time periods respectively, and then the planned trajectory curve of the key point of the No. 1 hydraulic support connector can be obtained as shown in FIGS. 8-10.

As can be seen in fig. 8-10, the projected coordinate curve of the floating attachment equivalent end effector generally fluctuates up and down around the true curve. The error fluctuation between the coordinate x obtained by planning and the actual track is large, the maximum error is within 1.3cm, and the planning track has a phenomenon similar to poisson distribution, so that the planning curve of the x coordinate has a peak value; the variation trend of the y coordinate value and the z coordinate value obtained by planning is consistent with the actual value, and the maximum local errors are respectively 2cm and 1 cm. Therefore, the local error needs to be corrected, and the filtering process needs to be performed until the maximum difference value with the actual value is within 0.1 cm. As shown in fig. 11, the x coordinate correction result shows that the theoretical values of the planned x coordinate have peaks (0.06s,0.15s), (0.15s,0.24s), (0.24s,0.3s), and the maximum difference from the actual value needs to be within 0.1cm after the filtering process. After the first correction, the maximum difference of the obtained track is 0.26cm, secondary correction is carried out in (0.06s,0.12s), (0.15s,0.24s) and (0.24s,0.27s) according to the correction result, and the maximum difference of the correction result and the actual value is 0.08cm, thereby meeting the requirement. The y coordinate and the z coordinate are jointly corrected by using the x value as a variable and adopting a cartesian path planning and gaussian filtering correction method, and the joint correction result is shown in fig. 12 and 13.

The electro-hydraulic control system on the hydraulic support can obtain the pushing stroke of the pushing mechanism and the extension d of the piston rod₁The swing angle gamma of the connector can be obtained from the yaw angle alpha and the pitch angle beta of the pushing rod and the inclination angle delta of the base, and the calculation model of each structural posture of the pushing mechanism is as follows, wherein d is the position difference between the hydraulic support and the middle groove obtained by the infrared distance meter, and l is the position difference between the hydraulic support and the middle groove₁Is the length of the push rod l₂Is the length of the connector, the calculation formula of the gamma value is as follows.

The movement of the individual components of the pusher mechanism can thus be determined.

The above embodiments are only preferred embodiments of the present invention, and those skilled in the art can make variations and modifications to the above embodiments, therefore, the present invention is not limited to the above embodiments, and any obvious improvements, substitutions or modifications made by those skilled in the art based on the present invention are within the protection scope of the present invention.