Self-adaptive supporting pillar based on multi-modal perception, height adjusting method and device thereof, storage medium and electronic equipment

Abstract

The invention discloses a self-adaptive supporting pillar based on multi-modal perception, a height adjusting method and device thereof, a storage medium and electronic equipment, and belongs to the technical field of intelligent equipment. The supporting column is used for a space needing to be supported, and the space needing to be supported is provided with a contact face capable of making contact with a self-adaptive pressure-bearing top disc. The self-adaptive pressure-bearing top tray is fixedly arranged at the top of the supporting pillar; the displacement sensor and the pressure sensor are arranged in the self-adaptive pressure-bearing top tray, the displacement sensor is used for acquiring the contact distance between the self-adaptive pressure-bearing top tray and the contact surface, and the pressure sensor is used for acquiring the contact pressure between the self-adaptive pressure-bearing top tray and the contact surface; and the processor is used for adjusting the height of the supporting pillar according to the contact distance and the contact pressure, so that the stress of the contact surface is within a set range. The method, the device, the storage medium and the electronic equipment can be used for adjusting the height of the supporting pillar. The supporting performance of the supporting pillar can be remarkably improved, and potential safety hazards are reduced.

Description

Technical Field

[0001] The present invention relates to the field of embodied intelligent technology, and in particular to an adaptive support pillar based on multimodal perception, and a height adjustment method, device, storage medium and electronic equipment thereof. Background Art

[0002] In the advanced support section of coal mine tunnels, due to roof subsidence, crushing, or local deformation, the rigid contact surfaces of traditional supports are prone to uneven support, leading to localized stress concentration, support crushing, and even roof collapse accidents. Existing adjustment methods rely primarily on manual intervention or limited mechanical compensation, and are unable to respond to dynamic roof deformation in real time. Especially in sudden situations such as impact ground pressure or cyclical pressure, the supports passively "hardly resist" and lack active pressure-relieving and energy-absorbing buffering mechanisms. Improving the adaptability and responsiveness of traditional supports without changing their structure has become a key issue in improving support effectiveness and mine safety. Summary of the Invention

[0003] In view of this, the present invention provides an adaptive support pillar based on multimodal perception, and its height adjustment method, device, storage medium and electronic equipment, which are based on the data obtained by the displacement sensor and pressure sensor installed in the adaptive pressure-bearing top plate. Through the calculation and processing of the processor, the height of the support pillar can be adaptively adjusted, so that the contact surface between the support pillar and the space to be supported is subjected to force within the set range, significantly improving the support performance of the support pillar, reducing safety hazards, and having good compatibility with the support pillars in the existing technology, thereby being more suitable for practical use.

[0004] In order to achieve the first objective above, the technical solution of the adaptive support pillar based on multimodal perception provided by the present invention is as follows:

[0005] The adaptive support pillar based on multimodal sensing provided by the present invention is used for a space requiring support, and comprises a support pillar (3), an adaptive pressure-bearing top plate (5), a displacement sensor, a pressure sensor and a processor.

[0006] The space requiring support is provided with a contact surface capable of contacting the adaptive pressure-bearing top plate (5);

[0007] The adaptive pressure-bearing top plate (5) is fixedly arranged on the top of the supporting pillar (3);

[0008] The displacement sensor and the pressure sensor are arranged inside the adaptive pressure-bearing top plate (5), wherein the displacement sensor is used to obtain the contact distance between the adaptive pressure-bearing top plate (5) and the contact surface, and the pressure sensor is used to obtain the contact pressure between the adaptive pressure-bearing top plate (5) and the contact surface;

[0009] The processor is used to adjust the height of the support pillar (3) according to the contact distance and the contact pressure so that the force on the contact surface is within a set range.

[0010] The adaptive support pillar based on multimodal perception provided by the present invention can also be further implemented by adopting the following technical measures.

[0011] Preferably, the adaptive support pillar based on multimodal perception further includes redundant sensors,

[0012] The displacement sensors include a plurality of sensors, one of which is a main displacement sensor and the rest are backup displacement sensors. When the main displacement sensor fails, the backup displacement sensors are activated through the redundant sensors.

[0013] The pressure sensors include multiple ones, one of which is a main pressure sensor and the others are backup pressure sensors. When the main pressure sensor fails, the backup pressure sensors are activated through the redundant sensors.

[0014] Preferably, the adaptive support pillar based on multimodal perception further includes a buffer layer.

[0015] The buffer layer is arranged on the top of the adaptive pressure-bearing top plate (5), and the buffer layer is used for contacting the contact surface.

[0016] Preferably, the buffer layer is made of an elastic material.

[0017] Preferably, the elastic material is polyurethane rubber.

[0018] Preferably, the support pillar (3) is a hydraulic pillar, and the hydraulic pillar comprises a fixed end (1) and a free end (2).

[0019] A moving pair is formed between the free end (2) and the inner wall of the fixed end (1);

[0020] The height of the free end (2) can be changed by injecting or extracting hydraulic medium into the hydraulic medium cylinder of the fixed end (1);

[0021] The self-adaptive pressure-bearing top plate (5) is fixedly arranged on the top of the free end (5).

[0022] Preferably, the adaptive support pillar based on multimodal perception further includes an audible and visual alarm device and / or a safety locking device.

[0023] The sound and light alarm device is used to emit sound and light alarm signals in extreme situations;

[0024] The safety locking device is used for linkage control of the synchronous movement of all supporting pillars (3).

[0025] In order to achieve the second objective above, the present invention provides an adaptive support pillar based on multimodal sensing, wherein the technical solution of the support pillar height adjustment method is as follows:

[0026] In the adaptive support pillar based on multimodal perception provided by the present invention, the height adjustment method of the support pillar comprises the following steps:

[0027] Acquiring pressure data from the pressure sensor;

[0028] Determining whether the support pillar (3) needs to be moved based on pressure data from the pressure sensor;

[0029] When it is determined that the support pillar (3) needs to move, commanding the support pillar (3) to move;

[0030] Displacement data of the displacement sensor is acquired, and when the support pillar (3) moves to a set position, the position of the support pillar (3) is locked.

[0031] In the adaptive support pillar based on multimodal perception provided by the present invention, the height adjustment method of the support pillar can be further implemented by adopting the following technical measures.

[0032] Preferably, in the adaptive support pillar based on multimodal perception, the height adjustment method of the support pillar further comprises the following steps:

[0033] Acquiring deformation data of the contact surface and / or pressure change data of the contact surface;

[0034] predicting a pressure change trend of the contact surface based on the deformation data of the contact surface and / or the pressure change data of the contact surface;

[0035] According to the predicted pressure change trend of the contact surface, before the contact surface deforms and / or the pressure changes, an action instruction is sent to the corresponding support pillar (3) to avoid deformation of the contact surface or excessive stress concentration.

[0036] Preferably, in the adaptive support pillar based on multimodal perception, in the method for adjusting the height of the support pillar, predicting the pressure change trend of the contact surface based on the deformation data of the contact surface and / or the pressure change data of the contact surface specifically includes the following steps:

[0037] Acquiring historical deformation data and historical pressure data of the sample contact surface, as well as deformation and / or pressure change results of the sample contact surface;

[0038] Extracting historical deformation data, historical pressure data of the sample contact surface, and a characteristic vector of the deformation and / or pressure change results of the sample contact surface;

[0039] Applying a long short-term memory network model and a temporal convolutional network model to learn the feature vector, and obtaining a correlation between the feature vector of the sample contact surface and the deformation and / or pressure change result of the sample contact surface;

[0040] Obtain historical deformation data and historical pressure data of the contact surface to be predicted;

[0041] Extracting characteristic vectors of historical deformation data and historical pressure data of the contact surface to be predicted;

[0042] According to the correlation between the characteristic vector of the sample contact surface and the deformation and / or pressure change result of the sample contact surface, a pressure change trend prediction result of the contact surface to be predicted is obtained.

[0043] Preferably, in the adaptive support pillar based on multimodal perception, in the height adjustment method of the support pillar, according to the predicted pressure change trend of the contact surface, before the contact surface deforms and / or the pressure changes, an action instruction is issued to the corresponding support pillar (3) to avoid deformation of the contact surface, or excessive stress concentration, specifically comprising the following steps:

[0044] When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation is less than 10% of the original pressure, an action instruction is issued to the support pillar (3) corresponding to the pressure change fluctuation position to adjust the height of the support pillar (3) corresponding to the pressure change fluctuation position;

[0045] When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation range is 10%-30% of the original pressure, an action instruction is issued to the support pillar (3) corresponding to the pressure change fluctuation position and the plurality of support pillars (3) adjacent thereto, so as to adjust the height of the support pillar (3) corresponding to the pressure change fluctuation position and the plurality of support pillars (3) adjacent thereto;

[0046] When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation range is greater than 30% of the original pressure, an action instruction is issued to all supporting pillars (3) to adjust the heights of all supporting pillars (3).

[0047] Preferably, in the adaptive support pillar based on multimodal perception, the height adjustment method of the support pillar further includes a step of real-time updating of the long short-term memory network model and the temporal convolutional network model, specifically including:

[0048] Adopting an incremental learning method to update the long short-term memory network model and the temporal convolutional network model in real time, and adapting to changes by gradually adjusting weights;

[0049] Each time new data arrives, the long short-term memory network model and the temporal convolutional network model are optimized and adjusted based on the real-time data.

[0050] In order to achieve the third objective, the present invention provides an adaptive support pillar based on multimodal sensing, wherein the technical solution of the support pillar height adjustment device is as follows:

[0051] In the adaptive support pillar based on multimodal perception provided by the present invention, the height adjustment device of the support pillar includes:

[0052] A pressure data acquisition module, configured to acquire pressure data from the pressure sensor;

[0053] A judgment module, used for judging whether the support pillar (3) needs to be moved based on the pressure data of the pressure sensor;

[0054] A command generation module, for commanding the support pillar (3) to move when it is determined that the support pillar (3) needs to move;

[0055] A support pillar position locking module is used to obtain displacement data of the displacement sensor and lock the position of the support pillar (3) when the support pillar (3) moves to a set position.

[0056] In order to achieve the fourth objective above, the technical solution of the computer-readable storage medium provided by the present invention is as follows:

[0057] The computer-readable storage medium provided by the present invention stores a height adjustment program for the support pillar. When the height adjustment program for the support pillar is executed by the processor, the steps of the height adjustment method for the support pillar in the adaptive support pillar based on multimodal perception provided by the present invention are implemented.

[0058] In order to achieve the fifth objective, the present invention provides an electronic device with the following technical solutions:

[0059] The electronic device provided by the present invention includes a memory and a processor, and the memory stores a height adjustment program for the support pillar. When the height adjustment program for the support pillar is executed by the processor, the steps of the height adjustment method for the support pillar in the adaptive support pillar based on multimodal perception provided by the present invention are implemented.

[0060] The present invention provides an adaptive support pillar based on multimodal perception, a height adjustment method, a device, a storage medium and an electronic device thereof, a displacement sensor and a pressure sensor installed in the adaptive pressure-bearing top plate 5, and a space to be supported is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5. Based on the data obtained by the displacement sensor and the pressure sensor, the height of the support pillar 3 can be adaptively adjusted through calculation and processing by the processor, so that the force on the contact surface between the support pillar 3 and the space to be supported is always within the set range, thereby significantly improving the support performance of the support pillar 3 and reducing safety hazards. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Various other advantages and benefits will become apparent to those skilled in the art upon reading the detailed description of the preferred embodiment below. The accompanying drawings are for illustration purposes only and are not to be considered as limiting the present invention. The same reference symbols are used throughout the drawings to represent the same components. In the drawings:

[0062] Attachment Figure 1 A schematic diagram of the structure and layout of the adaptive support pillar based on multimodal perception provided by an embodiment of the present invention;

[0063] Attachment Figure 2 A flowchart of the overall steps of a method for adjusting the height of a support pillar in an adaptive support pillar based on multimodal sensing provided in an embodiment of the present invention;

[0064] Attachment Figure 3 A schematic diagram of the signal flow relationship between the functional modules used in the height adjustment device of the adaptive support pillar based on multimodal sensing provided by an embodiment of the present invention;

[0065] Attachment Figure 4 A schematic structural diagram of a height adjustment device for a support pillar in an adaptive support pillar based on multimodal perception in the hardware operating environment provided by an embodiment of the present invention;

[0066] Description of reference numerals:

[0067] 1-Fixed end, 2-Free end, 3-Support pillar, 4-Hydraulic pipe, 5-Adaptive pressure top plate. DETAILED DESCRIPTION

[0068] In order to solve the problems existing in the prior art, the present invention provides an adaptive support pillar based on multimodal perception, and its height adjustment method, device, storage medium and electronic equipment are based on the data obtained by the displacement sensor and pressure sensor installed in the adaptive pressure-bearing top plate. Through calculation and processing by the processor, the height of the support pillar can be adaptively adjusted, so that the force on the contact surface between the support pillar and the space to be supported is within the set range, which significantly improves the support performance of the support pillar and reduces safety hazards. In addition, it has good compatibility with the support pillars in the prior art, making it more suitable for practical use.

[0069] To further illustrate the technical means and effectiveness of the present invention in achieving its intended purpose, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail the adaptive support pillar based on multimodal sensing, its height adjustment method, device, storage medium, and electronic device, as well as its specific implementation, structure, features, and effectiveness. In the following description, different "one embodiment" or "embodiment" do not necessarily refer to the same embodiment. Furthermore, the features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0070] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B, specifically understood as: A and B may be included at the same time, A may exist alone, or B may exist alone, and any of the above three situations may exist.

[0071] Adaptive support pillar based on multimodal perception

[0072] See attached Figure 1 The adaptive support pillar based on multimodal sensing provided by an embodiment of the present invention is used for a space that requires support, and includes a support pillar 3, an adaptive pressure-bearing top plate 5, a displacement sensor, a pressure sensor, and a processor. The space that requires support is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5; the adaptive pressure-bearing top plate 5 is fixedly arranged on the top of the support pillar 3; the displacement sensor and the pressure sensor are arranged inside the adaptive pressure-bearing top plate 5, wherein the displacement sensor is used to obtain the contact distance between the adaptive pressure-bearing top plate 5 and the contact surface, and the pressure sensor is used to obtain the contact pressure between the adaptive pressure-bearing top plate 5 and the contact surface; the processor is used to adjust the height of the support pillar 3 according to the contact distance and contact pressure, so that the force on the contact surface is within a set range.

[0073] The adaptive support pillars based on multimodal sensing provided by the embodiments of the present invention have an adaptive pressure-bearing top plate 5 with two top planes: a regular pressure-bearing plane and a protective concave plane. When mechanically coupled with the contact surface of the space to be supported, the regular pressure-bearing plane ensures uniform pressure distribution on the contact surface, while the protective concave plane forms an inclusive protective structure for the ends of the pre-installed anchor rods on the contact surface. This dual-plane structural arrangement effectively prevents structural damage to the anchor rod ends due to external impact or vibration while maintaining the mechanical transmission efficiency of the support system, further improving the reliability and service life of the support system.

[0074] The adaptive support pillar based on multimodal perception provided by the embodiment of the present invention has a displacement sensor and a pressure sensor installed in the adaptive pressure-bearing top plate 5, and the space to be supported is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5. Based on the data obtained by the displacement sensor and the pressure sensor, the height of the support pillar 3 can be adaptively adjusted through calculation and processing by the processor, so that the force on the contact surface between the support pillar 3 and the space to be supported is always within the set range, thereby significantly improving the support performance of the support pillar 3 and reducing safety hazards.

[0075] The adaptive support pillar based on multimodal sensing provided by the embodiment of the present invention also includes redundant sensors. There are multiple displacement sensors, one of which is a primary displacement sensor and the rest are backup displacement sensors. When the primary displacement sensor fails, the backup displacement sensors are activated through the redundant sensors. There are multiple pressure sensors, one of which is a primary pressure sensor and the rest are backup displacement sensors. When the primary pressure sensor fails, the backup displacement sensors are activated through the redundant sensors. In this case, if the primary displacement sensor and / or primary pressure sensor fails, the redundant sensors can be used to switch to the backup displacement sensors and pressure sensors. Therefore, the application safety of the adaptive support pillar with modal sensing provided by the embodiment of the present invention can be guaranteed.

[0076] The adaptive support pillars based on multimodal sensing provided by the embodiments of the present invention also include a buffer layer. This buffer layer is disposed on top of the adaptive pressure-bearing top plate 5 and is used to contact the contact surface. In this case, the buffer layer can transform the contact between the adaptive pressure-bearing top plate 5 and the contact surface of the space to be supported from a hard contact to a flexible contact with a buffer, thereby ensuring a higher degree of contact between the adaptive support pillars based on multimodal sensing provided by the embodiments of the present invention and the contact surface, thereby ensuring the accuracy of the data acquired by the displacement sensor and pressure sensor.

[0077] The buffer layer is made of an elastic material. In this case, the elastic material of the buffer layer can be used to transform the contact between the adaptive pressure-bearing top plate 5 and the contact surface of the space to be supported from a hard contact to a flexible contact with a buffer, thereby ensuring a higher degree of contact and fit between the adaptive support pillars based on multimodal sensing provided by the embodiment of the present invention and the contact surface, thereby ensuring the accuracy of the data obtained by the displacement sensor and the pressure sensor.

[0078] Among them, the elastic material is polyurethane rubber. Polyurethane rubber, codenamed UR, is formed by the polymerization of polyester (or polyether) and diisocyanamide lipid compounds. Its chemical structure is more complex than that of general elastic polymers. In addition to recurring carbamate groups, the molecular chain often contains ester, ether, and aromatic groups. The UR molecular backbone is composed of a mosaic of flexible and rigid segments. The flexible segments, also known as soft segments, are composed of oligomeric polyols (such as polyester, polyether, and polybutadiene); the rigid segments, also known as hard segments, are composed of the reaction products of diisocyanates (such as TDI and MDI) and small molecule chain extenders (such as diamines and diols). The soft segments account for a larger proportion than the hard segments. The soft and hard segments have different polarities. The hard segments have a stronger polarity and tend to aggregate together, forming numerous microdomains within the soft segment phase, known as a microphase separation structure. Its physical and mechanical properties are closely related to the degree of microphase separation. Due to the presence of hydrogen bonds between the main chains of UR molecules, they have high strength and elasticity. Its characteristics include high hardness, good strength, high elasticity, high wear resistance, tear resistance, aging resistance, ozone resistance, radiation resistance and good electrical conductivity, which are unmatched by ordinary rubber. In this case, the use of this polyurethane rubber material allows the contact between the adaptive pressure-bearing top plate 5 and the contact surface of the space to be supported to be transformed from a hard contact to a flexible contact with a buffer, thereby ensuring a higher degree of contact and fit between the adaptive support pillar based on multimodal sensing provided by the embodiment of the present invention and the contact surface. Therefore, the accuracy of the data obtained by the displacement sensor and the pressure sensor can be guaranteed.

[0079] The support pillar 3 is a hydraulic pillar consisting of a fixed end 1 and a free end 2. The free end 2 forms a sliding joint with the inner wall of the fixed end 1. The height of the free end 2 can be adjusted by injecting or withdrawing hydraulic medium from the hydraulic cylinder of the fixed end 1. An adaptive pressure-bearing top plate 5 is fixed to the top of the free end 5. This makes height adjustment of the support pillar 3 simple and convenient.

[0080] The adaptive support pillars based on multimodal sensing provided by the embodiments of the present invention also include an audible and visual alarm device and / or a safety locking device. The audible and visual alarm device is used to issue an audible and visual alarm signal in extreme situations; the safety locking device is used to control the synchronous operation of all support pillars 3. In this way, even when unattended, a timely response can be ensured if a malfunction of the adaptive support pillars based on multimodal sensing provided by the embodiments of the present invention occurs.

[0081] Height adjustment method of support pillars in adaptive support pillars based on multimodal perception

[0082] See attached Figure 2 In the adaptive support pillar based on multimodal perception provided by an embodiment of the present invention, the height adjustment method of the support pillar includes the following steps:

[0083] Step S1: Obtain pressure data from a pressure sensor.

[0084] Step S2: judging whether the support pillar 3 needs to be moved according to the pressure data of the pressure sensor.

[0085] Step S3: When it is determined that the supporting pillar 3 needs to be moved, the supporting pillar 3 is instructed to move.

[0086] Step S4: Acquire the displacement data of the displacement sensor, and when the support pillar 3 moves to the set position, lock the position of the support pillar 3.

[0087] In the adaptive support pillar based on multimodal perception provided by an embodiment of the present invention, the height adjustment method of the support pillar utilizes the displacement sensor and pressure sensor provided in the adaptive pressure-bearing top plate 5. The space to be supported is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5. Based on the data obtained by the displacement sensor and the pressure sensor, the height of the support pillar 3 can be adaptively adjusted through calculation and processing by the processor, so that the force on the contact surface between the support pillar 3 and the space to be supported is always within the set range, thereby significantly improving the support performance of the support pillar 3 and reducing safety hazards.

[0088] Among them, in the adaptive support pillar based on multimodal perception provided by the present invention, the height adjustment method of the support pillar further includes the following steps:

[0089] Acquiring deformation data of the contact surface and / or pressure change data of the contact surface;

[0090] Predicting a pressure change trend of the contact surface based on the deformation data of the contact surface and / or the pressure change data of the contact surface;

[0091] According to the predicted pressure change trend of the contact surface, an action instruction is issued to the corresponding supporting pillar 3 before the contact surface deforms and / or the pressure changes, so as to avoid deformation of the contact surface or excessive stress concentration.

[0092] In this case, the pressure change trend of the contact surface can be predicted through the deformation data of the contact surface and / or the pressure change data of the contact surface. Before the contact surface deforms and / or the pressure changes, the support pillar 3 can be moved in advance, thereby more reliably avoiding deformation of the contact surface or excessive stress concentration.

[0093] Predicting the pressure change trend of the contact surface based on the deformation data of the contact surface and / or the pressure change data of the contact surface specifically includes the following steps:

[0094] Acquiring historical deformation data, historical pressure data, and deformation and / or pressure change results of the sample contact surface;

[0095] Extracting historical deformation data, historical pressure data, and characteristic vectors of deformation and / or pressure change results of the sample contact surface;

[0096] Applying a long short-term memory network model and a temporal convolutional network model to learn the feature vector, and obtaining a correlation between the feature vector of the sample contact surface and the deformation and / or pressure change results of the sample contact surface;

[0097] Obtain historical deformation data and historical pressure data of the contact surface to be predicted;

[0098] Extracting the characteristic vectors of the historical deformation data and historical pressure data of the contact surface to be predicted;

[0099] According to the correlation between the characteristic vector of the sample contact surface and the deformation and / or pressure change result of the sample contact surface, the pressure change trend prediction result of the contact surface to be predicted is obtained.

[0100] In this scenario, the system combines LSTM (Long Short-Term Memory) and TCN (Temporal Convolutional Network) to process data in real time. LSTM is primarily used to predict long-term pressure trends. By learning from historical data, LSTM can predict roof pressure trends, provide early warnings, and help the system predict pressure changes over long time spans. TCN is used to capture short-term pressure fluctuations, especially rapid fluctuations and localized stress concentrations. This approach can respond within milliseconds and is particularly suitable for detecting sudden, sharp fluctuations in roof pressure and unexpected safety risks. Based on the predictions, the neural network generates adjustment commands, controlling the hydraulic system to raise and lower the struts and adjust pressure. When the system predicts a small pressure change (such as a slight increase), it precisely adjusts the struts' height by controlling the proportional solenoid valves to evenly distribute the supporting force. In the event of a dramatic pressure change, the system triggers an emergency response mode, coordinating the simultaneous height adjustments of multiple struts to disperse excessive pressure and prevent localized stress concentrations. Based on real-time feedback and pressure sensor data, the system continuously calibrates the struts' height and pressure to ensure optimal contact between the roof and the struts.

[0101] According to the predicted pressure change trend of the contact surface, before the contact surface deforms and / or the pressure changes, an action instruction is issued to the corresponding support pillar 3 to avoid deformation of the contact surface or excessive stress concentration, which specifically includes the following steps:

[0102] When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation is less than 10% of the original pressure, an action instruction is issued to the support pillar 3 corresponding to the pressure change fluctuation position to adjust the height of the support pillar 3 corresponding to the pressure change fluctuation position;

[0103] When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation range is 10%-30% of the original pressure, an action instruction is issued to the support pillar 3 corresponding to the pressure change fluctuation position and the multiple support pillars 3 adjacent thereto, and the height of the support pillar 3 corresponding to the pressure change fluctuation position and the multiple support pillars 3 adjacent thereto is adjusted;

[0104] When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation range is greater than 30% of the original pressure, an action instruction is issued to all the supporting pillars 3 to adjust the heights of all the supporting pillars 3.

[0105] In this case, in the adaptive support pillar based on multimodal sensing provided by the embodiment of the present invention, the support pillar height adjustment method includes a three-level response mechanism, and the corresponding response strategy is selected according to the amplitude and duration of the pressure change:

[0106] Level 1 response: When the pressure fluctuation is less than 10%, the system will individually adjust the changed support to ensure that the supporting force is evenly distributed.

[0107] Secondary response: When the pressure fluctuation exceeds 10% but is less than 30%, the system will activate the adjacent pillar linkage mechanism to disperse the pressure by adjusting the height of multiple pillars to ensure that the support surface is evenly stressed.

[0108] Level 3 response: When the pressure fluctuation exceeds 30%, the system will activate the emergency support mode. All pillars will adjust the height and pressure at the same time to quickly disperse the local pressure and avoid excessive impact on the system.

[0109] Emergency adjustment mechanism:

[0110] In the third-level response mode, the system rapidly adjusts the hydraulic support's pressure release mechanism through precise control of the hydraulic pump, proportional valve, and solenoid valve. For example, if the pressure is too high, the system lowers the support appropriately to release excess energy from the roof and prevent destructive movement.

[0111] For extreme situations, the system will combine sound and light alarm mechanisms and safety locking devices to ensure the synchronous response of all hydraulic supports and improve the overall emergency response capability.

[0112] Among them, in the adaptive support pillar based on multimodal perception provided by the embodiment of the present invention, the height adjustment method of the support pillar also includes the step of real-time updating of the long short-term memory network model and the temporal convolutional network model, specifically including:

[0113] Adopting incremental learning methods, the long short-term memory network model and the temporal convolutional network model are updated in real time, and the weights are gradually adjusted to adapt to changes;

[0114] Every time new data arrives, the long short-term memory network model and the temporal convolutional network model are optimized and adjusted based on the real-time data.

[0115] in this case,

[0116] Algorithm Flow: After each sensor data input, the model samples the data using a "sliding window" approach, training a subset of the neural network weights in real time. Using an incremental optimization algorithm based on gradient descent, only the portion relevant to the new data is updated, rather than making global adjustments.

[0117] Using knowledge distillation technology, the large LSTM model is compressed into a lightweight model, reducing storage and computing overhead while maintaining good prediction accuracy. By transferring the knowledge of the complex model to the small model, the system can run efficiently with limited computing resources.

[0118] Height adjustment device of support pillar in adaptive support pillar based on multimodal perception

[0119] See attached Figure 3 In the adaptive support pillar based on multimodal perception provided by the present invention, the height adjustment device of the support pillar includes:

[0120] A pressure data acquisition module is used to obtain pressure data from a pressure sensor;

[0121] A judgment module, used to judge whether the support pillar 3 needs to be moved based on the pressure data of the pressure sensor;

[0122] A command generation module, for commanding the support pillar 3 to move when it is determined that the support pillar 3 needs to move;

[0123] The support pillar position locking module is used to obtain the displacement data of the displacement sensor and lock the position of the support pillar 3 when the support pillar 3 moves to the set position.

[0124] In the adaptive support pillar based on multimodal perception provided by an embodiment of the present invention, the height adjustment device of the support pillar utilizes the displacement sensor and pressure sensor provided in the adaptive pressure-bearing top plate 5, and the space to be supported is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5. Based on the data obtained by the displacement sensor and the pressure sensor, the height of the support pillar 3 can be adaptively adjusted through calculation and processing by the processor, so that the force on the contact surface between the support pillar 3 and the space to be supported is always within the set range, thereby significantly improving the support performance of the support pillar 3 and reducing safety hazards.

[0125] Computer-readable storage medium

[0126] The computer-readable storage medium provided in an embodiment of the present invention stores a height adjustment program for the support pillar. When the height adjustment program for the support pillar is executed by the processor, the steps of the height adjustment method for the support pillar in the adaptive support pillar based on multimodal perception provided by the present invention are implemented.

[0127] When the height adjustment program of the support pillar stored in the computer-readable storage medium provided by the embodiment of the present invention is executed by the processor, the displacement sensor and pressure sensor provided in the adaptive pressure-bearing top plate 5 are utilized, and the space to be supported is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5. Based on the data obtained by the displacement sensor and the pressure sensor, the height of the support pillar 3 can be adaptively adjusted through the calculation and processing of the processor, so that the force on the contact surface between the support pillar 3 and the space to be supported is always within the set range, thereby significantly improving the support performance of the support pillar 3 and reducing safety hazards.

[0128] electronic devices

[0129] See attached Figure 4 The electronic device provided in an embodiment of the present invention includes a memory and a processor. The memory stores a height adjustment program for the support pillar. When the height adjustment program for the support pillar is executed by the processor, the steps of the height adjustment method for the support pillar in the adaptive support pillar based on multimodal perception provided by the present invention are implemented.

[0130] When the height adjustment program of the support pillar stored in the memory of the electronic device provided by the embodiment of the present invention is executed by the processor, the displacement sensor and pressure sensor provided in the adaptive pressure-bearing top plate 5 are used, and the space to be supported is provided with a contact surface that can contact the adaptive pressure-bearing top plate 5. Based on the data obtained by the displacement sensor and the pressure sensor, the height of the support pillar 3 can be adaptively adjusted through calculation and processing by the processor, so that the force on the contact surface between the support pillar 3 and the space to be supported is always within the set range, thereby significantly improving the support performance of the support pillar 3 and reducing safety hazards.

[0131] Reference Figure 4 , Figure 4 This is a schematic structural diagram of a height adjustment device for a support pillar in an adaptive support pillar based on multimodal perception in a hardware operating environment according to an embodiment of the present invention.

[0132] like Figure 4 As shown, in the adaptive support pillar based on multimodal sensing, the support pillar height adjustment device may include: a processor 1001, such as a central processing unit (CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. The communication bus 1002 is used to implement communication between these components. The user interface 1003 may include a display screen and an input unit such as a keyboard. Optionally, the user interface 1003 may also include a standard wired interface or a wireless interface. The network interface 1004 may optionally include a standard wired interface or a wireless interface (such as a wireless fidelity (WI-FI) interface). The memory 1005 may be a high-speed random access memory (RAM) or a stable non-volatile memory (NVM), such as a disk storage device. The memory 1005 may also be a storage device independent of the aforementioned processor 1001.

[0133] Those skilled in the art will understand that Figure 4The structure shown in does not constitute a limitation on the height adjustment device of the support pillar in the adaptive support pillar based on multimodal perception, and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[0134] like Figure 4 As shown, the memory 1005 as a storage medium may include an operating system, a data storage module, a network communication module, a user interface module, and a height adjustment program for the support pillar in the adaptive support pillar based on multimodal perception.

[0135] exist Figure 4 In the adaptive support pillar based on multimodal perception shown, in the height adjustment device of the support pillar, the network interface 1004 is mainly used for data communication with the network server; the user interface 1003 is mainly used for data interaction with the user; in the adaptive support pillar based on multimodal perception of the present invention, the processor 1001 and the memory 1005 in the height adjustment device of the support pillar can be set in the adaptive support pillar based on multimodal perception, in the height adjustment device of the support pillar, in the adaptive support pillar based on multimodal perception, the height adjustment device of the support pillar calls the height adjustment program of the support pillar stored in the memory 1005 in the adaptive support pillar based on multimodal perception through the processor 1001, and executes the height adjustment method of the support pillar in the adaptive support pillar based on multimodal perception provided in the embodiment of the present invention.

[0136] Example

[0137] 1. Installation and debugging of hydraulic props

[0138] Scenario: In a deep coal mine tunnel, a traditional hydraulic support has been installed. It is now necessary to add an intelligent adaptive hydraulic support on top of the support.

[0139] step:

[0140] a. Connect each intelligent hydraulic support to the top of a conventional hydraulic support, ensuring the adaptive pressure-bearing top plate is in contact with the roof. Pressure and displacement sensors embedded in the adaptive pressure-bearing top plate monitor roof deformation in real time.

[0141] b. Through the computer control system, connect the hydraulic pump, solenoid valve and throttle valve to complete the initial debugging of the hydraulic support system. The system will automatically calibrate the initial height of each support and lock it in the appropriate position.

[0142] 2. Automatic adjustment and real-time response of hydraulic props

[0143] Scenario: A slight subsidence of the coal mine tunnel roof causes a change in contact pressure, requiring adjustments to the support pillars.

[0144] step:

[0145] a. The system detects roof deformation through pressure sensors and immediately transmits the data to the intelligent control system. The control system then analyzes historical and real-time data using LSTM and TCN algorithms to predict roof pressure trends.

[0146] b. When contact pressure fluctuates, the system automatically controls the raising and lowering of the hydraulic struts. If uneven contact force is detected on a particular strut, the system precisely adjusts the hydraulic pressure of that strut via a solenoid valve to ensure that the strut maintains good contact with the roof.

[0147] For example, when the pressure fluctuation is small (such as within 5%), the system only adjusts the height of individual pillars; if the pressure fluctuation exceeds 10%, the system activates the linkage mechanism to adjust the height of adjacent pillars and evenly distribute the supporting force.

[0148] 3. Emergency Response and Stress Relief

[0149] Scenario: An emergency occurs and the roof pressure rises sharply. The system needs to respond quickly to avoid roof collapse accidents.

[0150] step:

[0151] a. When the system detects an abnormal fluctuation of roof pressure exceeding 30%, it enters Level 3 response mode. At this time, the height and pressure of all hydraulic supports will be adjusted immediately to avoid pressure concentration in one place.

[0152] b. The control system uses precise control of solenoid valves and proportional valves to quickly raise and lower all supports and disperse local pressure. For example, if the roof suddenly sinks, the system will adjust the hydraulic support to move downward, thereby releasing excess roof pressure.

[0153] c. The system activates the sound and light alarms simultaneously, and uses an adaptive locking device to ensure that the pillars can maintain their support firmly in an emergency, preventing the pillars from shifting or failing.

[0154] 4. Redundant sensors and fault-tolerance mechanisms

[0155] Scenario: In actual applications, some sensors may fail, and the system needs to ensure continuous and stable data.

[0156] step:

[0157] a. Each hydraulic support has at least two built-in pressure sensors and displacement sensors, one of which is the main sensor and the other is the backup sensor.

[0158] b. When the system detects a failure in the primary sensor, it automatically switches to the backup sensor, ensuring uninterrupted data flow. The control system continues to adjust the struts based on real-time data from the backup sensor. Simultaneously, the system performs a self-check. If a strut is detected to be faulty, it automatically activates the backup strut and triggers the system's fault-tolerance mechanism, ensuring the support structure always has adequate support.

[0159] 5. Daily maintenance and incremental learning

[0160] Scenario: After running for a long time, the system gradually adapts to the new working environment and optimizes its adaptive capabilities through machine learning algorithms.

[0161] step:

[0162] a. The system uses an incremental learning method to continuously input real-time sensor data into the neural network. By learning from historical data, the system can gradually optimize the pressure prediction accuracy and adapt to pressure fluctuations in different working environments.

[0163] b. Every time new data is input, the system updates the model through a "sliding window" method, adjusting only the part related to the new data, avoiding excessive computational burden.

[0164] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the present invention.

[0165] Obviously, those skilled in the art may make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if such changes and modifications fall within the scope of the claims and their equivalents, the present invention is intended to include such changes and modifications.

Claims

1. An adaptive support pillar based on multimodal perception, used in spaces requiring support, characterized in that: It includes a support pillar (3), an adaptive pressure-bearing top plate (5), a displacement sensor, a pressure sensor and a processor, The space requiring support is provided with a contact surface capable of contacting the adaptive pressure-bearing top plate (5); The adaptive pressure-bearing top plate (5) is fixedly arranged on the top of the supporting pillar (3); The displacement sensor and the pressure sensor are arranged inside the adaptive pressure-bearing top plate (5), wherein the displacement sensor is used to obtain the contact distance between the adaptive pressure-bearing top plate (5) and the contact surface, and the pressure sensor is used to obtain the contact pressure between the adaptive pressure-bearing top plate (5) and the contact surface; The processor is used to adjust the height of the support pillar (3) according to the contact distance and the contact pressure so that the force on the contact surface is within a set range.

2. The adaptive support pillar based on multimodal perception according to claim 1 is characterized in that: Also includes redundant sensors, The displacement sensors include a plurality of sensors, one of which is a main displacement sensor and the rest are backup displacement sensors. When the main displacement sensor fails, the backup displacement sensors are activated through the redundant sensors. The pressure sensors include multiple ones, one of which is a main pressure sensor and the others are backup pressure sensors. When the main pressure sensor fails, the backup pressure sensors are activated through the redundant sensors.

3. The adaptive support pillar based on multimodal perception according to claim 1, characterized in that: Also includes a buffer layer, The buffer layer is arranged on the top of the adaptive pressure-bearing top plate (5), and the buffer layer is used for contacting the contact surface.

4. The adaptive support pillar based on multimodal perception according to claim 3 is characterized in that: The buffer layer is made of elastic material.

5. The adaptive support pillar based on multimodal perception according to claim 4 is characterized in that: The elastic material is polyurethane rubber; Preferably, the support pillar (3) is a hydraulic pillar, and the hydraulic pillar comprises a fixed end (1) and a free end (2). A moving pair is formed between the free end (2) and the inner wall of the fixed end (1); The height of the free end (2) can be changed by injecting or extracting hydraulic medium into the hydraulic medium cylinder of the fixed end (1); The adaptive pressure-bearing top plate (5) is fixedly arranged on the top of the free end (5); Preferably, the adaptive support pillar based on multimodal perception further includes an audible and visual alarm device and / or a safety locking device. The sound and light alarm device is used to emit sound and light alarm signals in extreme situations; The safety locking device is used for linkage control of the synchronous movement of all supporting pillars (3).

6. In the adaptive support pillar based on multimodal sensing according to any one of claims 1 to 5, the method for adjusting the height of the support pillar is characterized by: The following steps are involved: Acquiring pressure data from the pressure sensor; Determining whether the support pillar (3) needs to be moved based on pressure data from the pressure sensor; When it is determined that the support pillar (3) needs to move, commanding the support pillar (3) to move; Displacement data of the displacement sensor is acquired, and when the support pillar (3) moves to a set position, the position of the support pillar (3) is locked.

7. In the adaptive support pillar based on multimodal perception according to claim 6, the height adjustment method of the support pillar is characterized by: The following steps are also included: Acquiring deformation data of the contact surface and / or pressure change data of the contact surface; predicting a pressure change trend of the contact surface based on the deformation data of the contact surface and / or the pressure change data of the contact surface; According to the predicted pressure change trend of the contact surface, before the contact surface deforms and / or the pressure changes, an action instruction is issued to the corresponding support pillar (3) to avoid deformation of the contact surface or excessive stress concentration; Preferably, predicting the pressure change trend of the contact surface according to the deformation data of the contact surface and / or the pressure change data of the contact surface specifically comprises the following steps: Acquiring historical deformation data and historical pressure data of the sample contact surface, as well as deformation and / or pressure change results of the sample contact surface; Extracting historical deformation data, historical pressure data of the sample contact surface, and a characteristic vector of the deformation and / or pressure change results of the sample contact surface; Applying a long short-term memory network model and a temporal convolutional network model to learn the feature vector, and obtaining a correlation between the feature vector of the sample contact surface and the deformation and / or pressure change result of the sample contact surface; Obtain historical deformation data and historical pressure data of the contact surface to be predicted; Extracting characteristic vectors of historical deformation data and historical pressure data of the contact surface to be predicted; Obtaining a pressure change trend prediction result of the contact surface to be predicted based on a correlation between the characteristic vector of the sample contact surface and the deformation and / or pressure change result of the sample contact surface; Preferably, according to the predicted pressure change trend of the contact surface, before the contact surface deforms and / or the pressure changes, an action instruction is issued to the corresponding support pillar (3) to avoid deformation of the contact surface, or excessive stress concentration, specifically including the following steps: When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation is less than 10% of the original pressure, an action instruction is issued to the support pillar (3) corresponding to the pressure change fluctuation position to adjust the height of the support pillar (3) corresponding to the pressure change fluctuation position; When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation range is 10%-30% of the original pressure, an action instruction is issued to the support pillar (3) corresponding to the pressure change fluctuation position and the plurality of support pillars (3) adjacent thereto, so as to adjust the height of the support pillar (3) corresponding to the pressure change fluctuation position and the plurality of support pillars (3) adjacent thereto; When the predicted pressure change trend of the contact surface indicates that the pressure change fluctuation range is greater than 30% of the original pressure, an action instruction is issued to all the support pillars (3) to adjust the heights of all the support pillars (3); Preferably, in the adaptive support pillar based on multimodal perception, the height adjustment method of the support pillar further includes a step of real-time updating of the long short-term memory network model and the temporal convolutional network model, specifically including: Adopting an incremental learning method to update the long short-term memory network model and the temporal convolutional network model in real time, and adapting to changes by gradually adjusting weights; Each time new data arrives, the long short-term memory network model and the temporal convolutional network model are optimized and adjusted based on the real-time data.

8. In the adaptive support pillar based on multimodal sensing according to any one of claims 1 to 5, the height adjustment device of the support pillar is characterized in that: include: A pressure data acquisition module, configured to acquire pressure data from the pressure sensor; A judgment module, used for judging whether the support pillar (3) needs to be moved based on the pressure data of the pressure sensor; A command generation module, for commanding the support pillar (3) to move when it is determined that the support pillar (3) needs to move; A support pillar position locking module is used to obtain displacement data of the displacement sensor and lock the position of the support pillar (3) when the support pillar (3) moves to a set position.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a support pillar height adjustment program. When the support pillar height adjustment program is executed by the processor, the steps of the support pillar height adjustment method in the adaptive support pillar based on multimodal perception described in claim 6 or 7 are implemented.

10. An electronic device, characterized in that: It includes a memory and a processor, wherein the memory stores a height adjustment program for the support pillar. When the height adjustment program for the support pillar is executed by the processor, the steps of the height adjustment method for the support pillar in the adaptive support pillar based on multimodal perception as described in claim 6 or 7 are implemented.

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