The Key Technologies Of Virtual Monitoring Of Hydraulic Support Group Driven By Distributed Real-time Running Data

The construction of coal intelligence is directly related to the process of national economy and social intelligence in China.As one of the core equipment of fully mechanized working face,hydraulic support plays an important role in the coordinated operation of fully mechanized working face equipment.With the continuous development of intelligent technology,the electro-hydraulic control technology of hydraulic support has become the normal configuration.Under the action of unknown environmental factors such as complex floor and rock pressure,the automatic support moving may cause a series of unexpected problems such as frame biting and frame squeezing with the surrounding supports due to the instability of its own center of gravity.It seriously interferes with the normal support task of support group.Therefore,it is necessary to obtain the real-time operation data of all supports in the working face comprehensively,accurately and continuously.Under complex working conditions,the remote precise control of support and group can be realized.With the continuous improvement of intelligent sensing and monitoring technology,the amount of monitoring data for the attitude of hydraulic support is more and more huge.It is obvious that the monitoring task can not be completed only by single machine system.Aiming at the above problems,combined with virtual reality,local area network collaboration,distributed,load balancing and other technologies,the key technologies of virtual monitoring of hydraulic support group driven by distributed real-time running data is studied.Based on the real-time position and attitude of the support,the distributed virtual monitoring method is studied.The main contents and conclusions are as follows:(1)The processing flow of attitude data of hydraulic support is proposed.Based on the realization of data-driven,the data processing is added.Through the three data processing steps of abnormal data identification and processing,data denoising based on empirical mode decomposition and sensor data conversion based on rotation matrix,the real-time and useful attitude data of hydraulic support group is obtained.The consistency of real support attitude and model attitude is realized.This method can provide reference for the monitoring of other fully mechanized mining equipment.(2)Aiming at the position monitoring problem of hydraulic support,the UWB positioning technology is introduced into the position monitoring of hydraulic support group.Based on the ranging information obtained by UWB ranging module and the coordinates of the base station,the three-dimensional coordinates of the support in space are obtained by using trilateral positioning principle.The scheme can provide a new idea for the position monitoring of hydraulic support,and lay a foundation for the position monitoring of hydraulic support with multi data sources fusion.(3)A distributed network synchronization scheme based on data manager is proposed in Unity3 D.Based on the consideration of the characteristics of hydraulic support movement,the remote call process based on key parameters rather than direct state synchronization is determined to realize the data interaction between distributed hosts,which greatly reduces the amount of network data to be synchronized.This method can solve the problem that the single machine system cannot complete complex tasks due to the huge amount of data,and can provide technical support for the construction of transparent fully mechanized mining face.(4)On the basis of distributed monitoring,a dynamic allocation scheme of monitoring tasks for hydraulic support group is proposed.On the basis of step(3),a dynamic allocation method of monitoring tasks based on consistent hashing algorithm is added.This method can evaluate the operating status of the host in real time and dynamically adjust the monitoring tasks in time.This method can ensure the load balance of the distributed system and the maximum utilization of resources,and realize smooth monitoring.