A hydraulic support pushing cylinder stroke measuring device and method based on UWB

Abstract

This invention provides a UWB-based device and method for measuring the stroke of a hydraulic support pushing cylinder, belonging to the field of hydraulic support pushing cylinder stroke measurement technology. It solves the problems of inconvenient debugging, high sealing requirements, and inconvenient maintenance of existing stroke sensors installed on hydraulic support pushing cylinders. The device includes a UWB ranging base station, a first ranging tag, a second ranging tag, a support controller, and a host computer. The UWB ranging base station is installed on the top beam of the hydraulic support, the first ranging tag is installed on the hydraulic support pushing cylinder, and the second ranging tag is installed on the base of the hydraulic support. The UWB ranging base station and the second ranging tag are connected to the support controller via cables, and the support controller communicates wirelessly with the host computer. The first ranging tag also integrates an accelerometer. When the hydraulic support is not working, the first ranging tag enters a sleep state. The acceleration data of the first ranging tag determines whether to wake it up for ranging. This invention is applied to hydraulic supports.

Description

Technical Field

[0001] This invention provides a device and method for measuring the stroke of a hydraulic support pushing cylinder based on UWB, belonging to the field of hydraulic support pushing cylinder stroke measurement technology. Background Technology

[0002] With the development of intelligent coal mining faces, more and more control and sensing devices are being installed on hydraulic supports. The stroke sensor of the push cylinder is a key sensor, and its reliable and stable operation plays a crucial role in achieving intelligent and unmanned fully mechanized mining faces. However, in reality, a large number of magnetic ring-type stroke sensors installed on the push cylinders of the hydraulic supports in the working face fail. Due to the harsh working conditions, repairing and replacing stroke sensors after damage is extremely difficult. Therefore, solving the problems of reliable and stable operation, easy maintenance, and replaceability of stroke sensors is a crucial issue that must be addressed in intelligent fully mechanized mining faces.

[0003] The hydraulic support pushing cylinder is a key component, and the stroke sensor, which quantitatively measures the stroke of the hydraulic support pushing cylinder, is an essential sensor for realizing intelligent working faces. In intelligent working faces, each support needs to be equipped with a stroke sensor, resulting in a large number of stroke sensors being used. Existing stroke sensors have three drawbacks in use: first, installation and debugging are inconvenient; when the stroke sensor is installed in the cylinder and its function is found to be abnormal, a lot of time and manpower are required for disassembly and assembly; second, because it is installed in the cylinder, the sensor has very high requirements for sealing; and third, maintenance is very inconvenient or even impossible, because the stroke sensor is installed inside the cylinder, and the cylinder must be removed for maintenance. Summary of the Invention

[0004] To address the problems of inconvenient debugging, high sealing requirements, and inconvenient maintenance of existing hydraulic support push cylinder stroke sensors, this invention proposes a UWB-based hydraulic support push cylinder stroke measurement device and method.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: a UWB-based hydraulic support pushing cylinder stroke measurement device, including a UWB ranging base station, a first ranging tag, a second ranging tag, a support controller and a host computer. The UWB ranging base station is installed on the top beam of the hydraulic support, the first ranging tag is installed on the hydraulic support pushing cylinder and can move together with the pushing cylinder, and the second ranging tag is installed on the base of the hydraulic support.

[0006] The UWB ranging base station and the second ranging tag are respectively connected to the bracket controller via cables, and the bracket controller communicates wirelessly with the host computer.

[0007] The first ranging tag also integrates an accelerometer. When the hydraulic support is not working, the first ranging tag enters a sleep state. When the support is not working for a long time, the accelerometer of the first ranging tag will not work. The first ranging tag has a timer that will wake up the tag periodically.

[0008] The support controller has a built-in computer program that calculates the stroke of the push cylinder based on data fed back from the UWB ranging base station, the first ranging tag, and the second ranging tag. The formula for calculating the real-time stroke length of the push cylinder is as follows:

[0009]

[0010] In the above formula: L X The value represents the real-time stroke length of the push cylinder, 'a' represents the distance between the UWB ranging base station and the first ranging tag, 'h' represents the vertical height between the UWB ranging base station and the hydraulic support base, and 'e' represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the starting point of the push cylinder.

[0011] The formula for calculating the vertical height h between the UWB ranging base station and the base is:

[0012] In the above formula: b represents the distance between the UWB ranging base station and the second ranging tag, and f represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the second ranging tag.

[0013] The support controller is an intrinsically safe support controller for mining. The support controller is connected to the UWB ranging base station and the second ranging tag through a mining four-core cable, which provides power to the UWB ranging base station and the second ranging tag while enabling communication.

[0014] The first ranging tag is battery powered.

[0015] A method for measuring the stroke of a hydraulic support pushing cylinder based on UWB, employing a UWB-based hydraulic support pushing cylinder stroke measuring device.

[0016] When the working face is not being mined, the hydraulic support is in a static state. The support controller periodically reads the working status of the UWB ranging base station and the second ranging tag to check whether the equipment is normal. The first ranging tag enters a sleep state when it is not working and automatically wakes up at regular intervals when it is working, and reports the equipment status to the support controller through the UWB ranging base station.

[0017] The steps for measuring the stroke of the hydraulic support pushing cylinder during working face mining are as follows:

[0018] S1: Distance measurement using the first ranging tag:

[0019] S1.1: Determine if the first ranging tag is activated;

[0020] S1.2: When the first ranging tag has been woken up, the first ranging tag measures the distance between itself and the UWB ranging base station and uploads the measurement data to the bracket controller;

[0021] S1.3: Next, determine whether the accelerometer of the first ranging tag is working properly. If the accelerometer of the first ranging tag is working properly, then after a delay, re-enter step S1.2.

[0022] S1.4: If it is determined in step S1.3 that the accelerometer of the first ranging tag is not working, the first ranging tag will enter sleep mode after a delay.

[0023] S1.5: If the first ranging tag determined in step S1.1 is not woken up in time, it is determined that the first ranging tag is woken up after a timeout. At this time, the first ranging tag measures the distance between itself and the UWB ranging base station and uploads the measurement data to the bracket controller, and then enters sleep mode.

[0024] S2: Second ranging tag ranging: Determine if the second ranging tag has received a command from the support controller to read data. When the second ranging tag receives the command, it responds and sends the ranging data to the support controller.

[0025] S3: Calculation of the stroke of the hydraulic support pushing cylinder. The support controller judges the validity of the distance measurement data uploaded by the first distance measuring tag and the second distance measuring tag. When the support controller judges that the data measured by the first distance measuring tag and the second distance measuring tag are both valid, it calculates the stroke of the pushing cylinder based on the measurement data.

[0026] The bracket controller uploads the data from the UWB ranging base station, the first ranging tag, and the second ranging tag to the host computer in real time. The host computer analyzes the feedback data to determine whether the UWB ranging base station, the first ranging tag, and the second ranging tag are functioning properly, and displays the determination result.

[0027] The formula for calculating the stroke of the hydraulic support pushing cylinder is as follows:

[0028]

[0029] In the above formula: L X The value represents the real-time stroke length of the push cylinder, 'a' represents the distance between the UWB ranging base station and the first ranging tag, 'h' represents the vertical height between the UWB ranging base station and the hydraulic support base, and 'e' represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the starting point of the push cylinder.

[0030] The formula for calculating the vertical height h between the UWB ranging base station and the hydraulic support base is as follows:

[0031]

[0032] In the above formula: b represents the distance between the UWB ranging base station and the second ranging tag, and f represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the second ranging tag.

[0033] The advantages of this invention compared to existing technologies are as follows: The UWB-based hydraulic support pushing cylinder stroke measurement device and method provided by this invention, by employing UWB ranging base stations and UWB ranging tags, can not only measure the stroke of the pushing cylinder, but also, since both the UWB ranging base stations and UWB ranging tags are installed on the hydraulic support, there is no need to remove the pushing cylinder during maintenance, saving time and effort. Furthermore, through UWB positioning technology, the host computer can analyze whether each UWB ranging base station and UWB ranging tag is working properly, enabling real-time monitoring. If a base station or tag is found to be not uploading data or uploading incorrect data, it is determined to be damaged, and the hydraulic support number where the damaged component is located can be promptly identified for replacement. This invention simplifies installation, provides real-time monitoring of the device, reduces maintenance costs, and improves stability. Attached Figure Description

[0034] The present invention will be further described below with reference to the accompanying drawings:

[0035] Figure 1 This is a schematic diagram of the structure of the device of the present invention;

[0036] Figure 2 This is an overall flowchart of the method of the present invention;

[0037] Figure 3 This is a flowchart of the ranging process of the first ranging tag of the present invention;

[0038] Figure 4 This is a flowchart of the ranging process of the second ranging tag of the present invention;

[0039] Figure 5 This is a flowchart illustrating the calculation of the stroke of the hydraulic cylinder in this invention;

[0040] Figure 6 A flowchart illustrating monitoring and maintenance using the device of the present invention;

[0041] In the diagram: 1 is the hydraulic support top beam, 2 is the hydraulic support base, 3 is the hydraulic support pushing cylinder, 4 is the UWB ranging base station, 5 is the first ranging tag, 6 is the second ranging tag, and 7 is the support controller. Detailed Implementation

[0042] like Figures 1 to 6 As shown, the present invention provides a UWB-based hydraulic support pushing cylinder stroke measurement device, including a UWB ranging base station 4, a first ranging tag 5, a second ranging tag 6, a support controller 7 and a host computer. The UWB ranging base station 4 is installed on the top beam 1 of the hydraulic support, the first ranging tag 5 is installed on the hydraulic support pushing cylinder 3 and can move together with the pushing cylinder, and the second ranging tag 6 is installed on the hydraulic support base 2.

[0043] The UWB ranging base station 4 and the second ranging tag 6 are respectively connected to the bracket controller 7 via cables, and the bracket controller 7 communicates wirelessly with the host computer.

[0044] The first ranging tag 5 also integrates an accelerometer. The first ranging tag 5 enters a sleep state when the hydraulic support is not working. When the support is not working for a long time, the accelerometer of the first ranging tag 5 will also not work. The first ranging tag 5 has a timer inside that will wake up the tag periodically.

[0045] The support controller 7 has a built-in computer program that calculates the stroke of the push cylinder based on data fed back from the UWB ranging base station 4, the first ranging tag 5, and the second ranging tag 6. The formula for calculating the real-time stroke length of the push cylinder is as follows:

[0046]

[0047] In the above formula: L X The value represents the real-time stroke length of the push cylinder, 'a' represents the distance between the UWB ranging base station and the first ranging tag, 'h' represents the vertical height between the UWB ranging base station and the hydraulic support base, and 'e' represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the starting point of the push cylinder.

[0048] The formula for calculating the vertical height h between the UWB ranging base station and the hydraulic support base is as follows:

[0049]

[0050] In the above formula: b represents the distance between the UWB ranging base station and the second ranging tag, and f represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the second ranging tag.

[0051] The support controller 7 is an intrinsically safe support controller for mining. The support controller 7 is connected to the UWB ranging base station 4 and the second ranging tag 6 through a mining four-core cable, respectively, to provide power to the UWB ranging base station 4 and the second ranging tag 6 and to realize communication.

[0052] The first ranging tag 5 is battery powered.

[0053] A method for measuring the stroke of a hydraulic support pushing cylinder based on UWB, employing a UWB-based hydraulic support pushing cylinder stroke measuring device.

[0054] When the working face is not being mined, the hydraulic support is in a static state. The support controller 7 periodically reads the working status of the UWB ranging base station 4 and the second ranging tag 6 to check whether the equipment is normal. The first ranging tag 5 enters a sleep state when it is not working and automatically wakes up at regular intervals when it is working, and reports the equipment status to the support controller 7 through the UWB ranging base station 4.

[0055] The steps for measuring the stroke of the hydraulic support pushing cylinder during working face mining are as follows:

[0056] S1: Distance measurement using the first ranging tag:

[0057] S1.1: Determine whether the first ranging tag 5 is awake;

[0058] S1.2: When the first ranging tag 5 has been woken up, the first ranging tag 5 measures the distance between itself and the UWB ranging base station 4 and uploads the measurement data to the bracket controller 7;

[0059] S1.3: Next, determine whether the accelerometer of the first ranging tag 5 is working properly. If the accelerometer of the first ranging tag 5 is working properly, then after a delay, re-enter step S1.2.

[0060] S1.4: If it is determined in step S1.3 that the accelerometer of the first ranging tag 5 is not working, the first ranging tag 5 will enter sleep mode after a delay.

[0061] S1.5: If the first ranging tag 5 determined in step S1.1 does not wake up in time, it is determined that the first ranging tag 5 has timed out. At this time, the first ranging tag 5 measures the distance between itself and the UWB ranging base station 4 and uploads the measurement data to the bracket controller 7, and then enters sleep mode.

[0062] S2: Second ranging tag ranging: Determine whether the second ranging tag 6 has received a command from the support controller 7 to read data. When the second ranging tag 6 receives a command from the support controller 7 to read data, the second ranging tag 6 responds and sends the ranging data to the support controller 7.

[0063] S3: Calculation of the stroke of the hydraulic support pushing cylinder. The support controller 7 judges the validity of the distance measurement data uploaded by the first distance measuring tag 5 and the second distance measuring tag 6. When the support controller 7 judges that the data measured by the first distance measuring tag 5 and the second distance measuring tag 6 are both valid, the stroke of the pushing cylinder is calculated based on the measurement data.

[0064] The bracket controller 7 uploads the data from the UWB ranging base station 4, the first ranging tag 5, and the second ranging tag 6 to the host computer in real time. The host computer analyzes the feedback data to determine whether the UWB ranging base station 4, the first ranging tag 5, and the second ranging tag 6 are functioning properly, and displays the determination result.

[0065] The formula for calculating the stroke of the hydraulic support pushing cylinder is as follows:

[0066]

[0067] In the above formula: L X The value represents the real-time stroke length of the push cylinder, 'a' represents the distance between the UWB ranging base station and the first ranging tag, 'h' represents the vertical height between the UWB ranging base station and the hydraulic support base, and 'e' represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the starting point of the push cylinder.

[0068] The formula for calculating the vertical height h between the UWB ranging base station and the hydraulic support base is as follows:

[0069]

[0070] In the above formula: b represents the distance between the UWB ranging base station and the second ranging tag, and f represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the second ranging tag.

[0071] like Figure 1 The measuring device of the present invention is shown, including a UWB ranging base station 4, a first ranging tag 5, a second ranging tag 6, a support controller 7, and a host computer. The UWB ranging base station 4 is mounted on the top beam 1 of the hydraulic support, the second ranging tag 6 is mounted on the base 2 of the hydraulic support, and the first ranging tag 5 is mounted on the hydraulic support pushing cylinder 3, allowing it to move with the cylinder. The UWB ranging base station 4 and the second ranging tag 6 mounted on the hydraulic support base 2 are connected to the support controller 7 via cables. The support controller 7 provides power and communicates with the UWB ranging base station 4 and the second ranging tag 6. The first ranging tag 5, mounted on the hydraulic support pushing cylinder 3, is powered by a battery.

[0072] When the working face is not being mined, the hydraulic support is in a static state. The support controller 7 will periodically read the working status of the UWB ranging base station 4 and the second ranging tag 6 to detect whether the equipment is normal. The first ranging tag 5 will enter a sleep state when not in operation to reduce power consumption and will automatically wake up at regular intervals to report the equipment status to the support controller 7 through the UWB ranging base station 4.

[0073] The procedure for measuring the hydraulic cylinder thrust stroke of this invention is as follows: Figure 2-5 As shown, according to Figure 1The above diagram illustrates the equipment installation. Let 'e' represent the distance between the intersection of the UWB ranging base station's vertical line and the hydraulic support base and the starting point of the pushing cylinder; 'f' represent the distance between the intersection of the UWB ranging base station's vertical line and the hydraulic support base and the second ranging tag; 'a' represent the distance between the first ranging tag and the UWB ranging base station; and 'b' represent the distance between the second ranging tag and the UWB ranging base station. Then, the formula for calculating the height 'h' of the UWB ranging base station from the hydraulic support base is: Real-time stroke length L of the push cylinder X The calculation formula is:

[0074]

[0075] The distance measurement principle of this invention is as follows: During the coal mining process in a fully mechanized coal mining face, the hydraulic support moves along with the coal mining machine, and the pushing cylinder and column on the hydraulic support change in real time with the coal mining machine and the coal mining face. Therefore, in this invention, during normal coal mining operations, the real-time changing measurement data are a and b. The stroke calculation of the pushing cylinder requires h, which is calculated based on the determined quantity f and the measurable known quantity b, thereby obtaining the stroke value of the pushing cylinder. The calculation process is simple, and because there are few variables in the calculation process, the calculated stroke distance of the pushing cylinder is also relatively accurate.

[0076] In this invention, the first ranging tag 5 is activated by installing an accelerometer on it. When the hydraulic support is stationary, the acceleration of the first ranging tag 5 is 0. When the hydraulic support begins to move, the pushing cylinder extends and retracts, causing a change in the acceleration of the first ranging tag 5. Based on this change, the first ranging tag 5 can be activated and put into normal measurement mode. Figure 3 As shown, in order to verify whether the first ranging tag 5 is normal, the present invention sets a timeout wake-up time limit. If the first ranging tag 5 does not feed back data for longer than the set time, it can be considered that the tag is damaged or the battery is dead. The abnormal information is displayed on the host computer, and the tag or tag battery is replaced in time.

[0077] This invention uses a bracket controller 7 to periodically read the measurement data of the second ranging tag 5 to determine whether the second ranging tag 5 is working properly. Figure 4 As shown, if the reading command issued by the bracket controller 7 does not receive a feedback signal from the second ranging tag 5 within a set time, or if the distance data fed back by the second ranging tag 5 changes abruptly within a short period of time, the tag is considered to be damaged. Its abnormal information is displayed on the host computer, the tag is replaced in time, and then it is repaired.

[0078] according to Figure 5As shown, when the data received by the support controller 7 from the first ranging tag 5 and the second ranging tag 6 are both normal and valid data, the above data are substituted into the calculation formula of the push cylinder stroke to obtain the real-time stroke of the hydraulic support push cylinder.

[0079] This invention uses a bracket controller 7 to upload the real-time operating status of the UWB ranging base station 4, the first ranging tag 5, and the second ranging tag 6, while the host computer provides real-time maintenance information. For example... Figure 6 As shown, when equipment malfunctions, the host computer's display interface will clearly show the bracket number of the equipment that needs repair or replacement. After equipment damage, maintenance personnel only need to remove the old equipment and install the new equipment, making installation quick, time-saving, and labor-saving.

[0080] Regarding the specific structure of this invention, it should be noted that the connection relationships between the various component modules used in this invention are definite and achievable. Except as specifically described in the embodiments, their specific connection relationships can bring about corresponding technical effects and solve the technical problems proposed by this invention without relying on the execution of corresponding software programs. The models of the components, modules, and specific components appearing in this invention, the connection methods between them, and the conventional usage methods and expected technical effects brought about by the above technical features, unless specifically described, are all publicly disclosed content in patents, journal articles, technical manuals, technical dictionaries, and textbooks that can be obtained by those skilled in the art before the application date, or belong to conventional technology, common knowledge, and other existing technologies in this field. There is no need to elaborate, which makes the technical solution provided in this case clear, complete, and achievable, and can reproduce or obtain corresponding physical products based on this technical means.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A UWB-based hydraulic support pushing cylinder stroke measuring device, characterized in that: It includes a UWB ranging base station, a first ranging tag, a second ranging tag, a support controller, and a host computer. The UWB ranging base station is installed on the top beam of the hydraulic support. The first ranging tag is installed on the hydraulic support pushing cylinder and can move together with the pushing cylinder. The second ranging tag is installed on the base of the hydraulic support. The UWB ranging base station and the second ranging tag are respectively connected to the bracket controller via cables, and the bracket controller communicates wirelessly with the host computer. The first ranging tag also integrates an accelerometer. When the hydraulic support is not working, the first ranging tag enters a sleep state. When the support is not working for a long time, the accelerometer of the first ranging tag will not work. The first ranging tag has a timer that will wake up the tag periodically. The support controller has a built-in computer program that calculates the stroke of the push cylinder based on data fed back from the UWB ranging base station, the first ranging tag, and the second ranging tag. The formula for calculating the real-time stroke length of the push cylinder is as follows: In the above formula: L X The value represents the real-time stroke length of the push cylinder, 'a' represents the distance between the UWB ranging base station and the first ranging tag, 'h' represents the vertical height between the UWB ranging base station and the hydraulic support base, and 'e' represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the starting point of the push cylinder.

2. The UWB-based hydraulic support pushing cylinder stroke measuring device according to claim 1, characterized in that: The formula for calculating the vertical height h between the UWB ranging base station and the base is: In the above formula: b represents the distance between the UWB ranging base station and the second ranging tag, and f represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the second ranging tag.

3. The UWB-based hydraulic support pushing cylinder stroke measuring device according to claim 1, characterized in that: The support controller is an intrinsically safe support controller for mining. The support controller is connected to the UWB ranging base station and the second ranging tag through a mining four-core cable, which provides power to the UWB ranging base station and the second ranging tag while enabling communication.

4. The UWB-based hydraulic support pushing cylinder stroke measuring device according to claim 1, characterized in that: The first ranging tag is battery powered.

5. A method for measuring the stroke of a hydraulic support pushing cylinder based on UWB, employing the UWB-based hydraulic support pushing cylinder stroke measuring device as described in any one of claims 1-4, characterized in that: When the working face is not being mined, the hydraulic support is in a static state. The support controller periodically reads the working status of the UWB ranging base station and the second ranging tag to check whether the equipment is normal. The first ranging tag enters a sleep state when it is not working and automatically wakes up at regular intervals when it is working, and reports the equipment status to the support controller through the UWB ranging base station. The steps for measuring the stroke of the hydraulic support pushing cylinder during working face mining are as follows: S1: Distance measurement using the first ranging tag: S1.1: Determine if the first ranging tag is activated; S1.2: When the first ranging tag has been woken up, the first ranging tag measures the distance between itself and the UWB ranging base station and uploads the measurement data to the bracket controller; S1.3: Next, determine whether the accelerometer of the first ranging tag is working properly. If the accelerometer of the first ranging tag is working properly, then after a delay, re-enter step S1.

2. S1.4: If it is determined in step S1.3 that the accelerometer of the first ranging tag is not working, the first ranging tag will enter sleep mode after a delay. S1.5: If the first ranging tag determined in step S1.1 is not woken up in time, it is determined that the first ranging tag has timed out. At this time, the first ranging tag measures the distance between itself and the UWB ranging base station and uploads the measurement data to the bracket controller, and then enters sleep mode. S2: Second ranging tag ranging: Determine whether the second ranging tag has received a command from the support controller to read data. When the second ranging tag receives a command from the support controller to read data, the second ranging tag responds and sends the ranging data to the support controller. S3: Calculation of the stroke of the hydraulic support pushing cylinder. The support controller judges the validity of the distance measurement data uploaded by the first distance measuring tag and the second distance measuring tag. When the support controller judges that the data measured by the first distance measuring tag and the second distance measuring tag are both valid, it calculates the stroke of the pushing cylinder based on the measurement data.

6. The method for measuring the stroke of a hydraulic support pushing cylinder based on UWB according to claim 5, characterized in that: The bracket controller uploads the data from the UWB ranging base station, the first ranging tag, and the second ranging tag to the host computer in real time. The host computer analyzes the feedback data to determine whether the UWB ranging base station, the first ranging tag, and the second ranging tag are functioning properly, and displays the determination result.

7. The method for measuring the stroke of a hydraulic support pushing cylinder based on UWB according to claim 6, characterized in that: The formula for calculating the stroke of the hydraulic support pushing cylinder is as follows: In the above formula: L X The value represents the real-time stroke length of the push cylinder, 'a' represents the distance between the UWB ranging base station and the first ranging tag, 'h' represents the vertical height between the UWB ranging base station and the hydraulic support base, and 'e' represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the starting point of the push cylinder.

8. The method for measuring the stroke of a hydraulic support pushing cylinder based on UWB according to claim 7, characterized in that: The formula for calculating the vertical height h between the UWB ranging base station and the hydraulic support base is as follows: In the above formula: b represents the distance between the UWB ranging base station and the second ranging tag, and f represents the distance between the intersection of the UWB ranging base station and the hydraulic support base and the second ranging tag.

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