A method, device and system for monitoring the support quality of hydraulic supports

Abstract

This invention relates to the field of coal mining support technology, and in particular to a method, device, and system for monitoring the quality of hydraulic support. The hydraulic support quality monitoring method of this invention utilizes real-time monitoring data of the column stroke, the balance jack stroke, the absolute tilt angle of the top beam, the absolute tilt angle of the shield beam, the absolute tilt angle of the base, the column load, and the balance jack load. By mapping and analyzing the support posture and load of the hydraulic support, real-time numerical simulation and kinematic simulation are obtained. Based on the hydraulic support quality evaluation indicators, the monitoring results of the hydraulic support are analyzed, providing a monitoring and evaluation method to improve the control effect of the surrounding rock in coal mining faces.

Description

Technical Field

[0001] This invention relates to the field of coal mining support technology, and in particular to a method, device and system for monitoring the quality of hydraulic support. Background Technology

[0002] Hydraulic supports are the main support equipment for supporting the roof, protecting the coal face, and isolating the goaf from falling gangue in fully mechanized mining faces. The support force and support posture of hydraulic supports directly affect the control effect of the surrounding rock.

[0003] Currently, traditional technologies mainly monitor the pressure of hydraulic support columns and infer the fracture morphology and activity patterns of the overlying strata based on changes in column pressure. However, analyzing only the pressure value of the hydraulic support column has significant limitations. For example, if the support posture of the hydraulic support is unreasonable, such as tilting or overturning, the pressure value of the column may become very large or very small. However, at this time, there is no pressure coming from the roof of the coal seam. If it is judged at this stage that there is pressure coming from the roof strata or that the roof pressure is very small, the judgment result may be completely opposite to the actual situation on the engineering site.

[0004] Based on the above analysis, to determine the effectiveness of hydraulic supports in supporting the roof strata, the first step is to monitor the support posture of the hydraulic supports, i.e., whether the hydraulic supports exhibit abnormal support conditions such as tilting, downward tilting, or the use of anti-aircraft guns. Additionally, coal seams generally have a certain angle of inclination; therefore, it is also necessary to monitor the spatial support posture of the hydraulic supports, i.e., monitoring both the structural and spatial postures of the hydraulic supports. The monitoring results of the hydraulic supports' support posture against the surrounding rock can be used to analyze whether any support abnormalities have occurred. If abnormalities are found, adjustments are required. Furthermore, it is necessary to analyze the magnitude of the support forces under different support postures, i.e., the support force of the hydraulic support columns and the support force of the balancing jacks. Only by analyzing the mapping relationship between the support posture and support force based on the monitoring results can the support quality of the hydraulic supports be comprehensively evaluated, and the causes of any abnormalities in support quality be identified.

[0005] Through a review and analysis of relevant domestic and international literature, it was found that existing technologies mainly monitor and analyze the column load of hydraulic supports, but do not monitor and analyze the load of the balancing jacks of hydraulic supports; some technologies have achieved monitoring of the support posture of hydraulic supports, but have not performed mapping analysis between the support posture and load of hydraulic supports, and lack devices and scientific evaluation methods for systematically monitoring the support quality of hydraulic supports. These issues urgently need to be addressed. Summary of the Invention

[0006] Therefore, the technical problem to be solved by the present invention is to overcome the lack of a device and a scientific evaluation method for systematically monitoring the support quality of hydraulic supports in the prior art.

[0007] To solve the above technical problems, the present invention provides a method for monitoring the support quality of hydraulic supports, comprising:

[0008] Based on real-time monitoring data of column stroke, balance jack stroke, top beam absolute tilt angle, shield beam absolute tilt angle, base absolute tilt angle, column load, and balance jack load, a search is performed in a pre-built database of hydraulic support posture and support load mapping relationships to obtain real-time numerical simulation and kinematic simulation.

[0009] The hydraulic support posture and support load mapping relationship library is constructed by using orthogonal experimental methods based on the pre-built numerical calculation model and motion simulation model of the hydraulic support, in the range of column stroke change, balance jack stroke change, lateral tilt angle, tilt angle, column load change, and balance jack load change, to obtain the numerical calculation simulation and kinematic simulation of the hydraulic support under different support postures and load states.

[0010] Based on the real-time numerical simulation and kinematic simulation, the hydraulic support support quality monitoring results are obtained according to the hydraulic support support quality evaluation index.

[0011] Preferably, the continuous monitoring data of the column stroke, the continuous monitoring data of the balance jack stroke, the continuous monitoring data of the absolute tilt angle of the top beam, the continuous monitoring data of the absolute tilt angle of the shield beam, the continuous monitoring data of the absolute tilt angle of the base, the continuous monitoring data of the column load, and the continuous monitoring data of the balance jack load are input into a pre-constructed hydraulic support posture and load prediction model to predict the development trend of the hydraulic support posture and load, and analyze the development trend of the hydraulic support quality based on the hydraulic support quality evaluation index.

[0012] The hydraulic support posture and load prediction model is generated by modeling the data in the hydraulic support posture and support load mapping relationship library using a time-series data modeling method.

[0013] Preferably, the numerical calculation model and motion simulation model of the hydraulic support are constructed respectively using numerical simulation software based on the geometric dimensions and material properties of the hydraulic support design and manufacturing drawings.

[0014] Preferably, the range of column stroke variation is from the minimum support height to the maximum support height of the hydraulic support when the top beam is parallel to the base;

[0015] The stroke variation range of the balancing jack is from the maximum extension to the maximum retraction of the hydraulic support balancing jack;

[0016] The lateral tilt angle range is from 0° to the maximum lateral rotation angle. The maximum lateral rotation angle is the rotation angle at which the center of gravity of the hydraulic support deviates from the edge of the hydraulic support base when the hydraulic support rotates around the axis perpendicular to the coal wall plane.

[0017] The tilt angle range is from 0° to the maximum tilt rotation angle, and the maximum tilt rotation angle is the rotation angle with the length direction of the working surface as the rotation axis, and the center of gravity of the hydraulic support is off the edge of the hydraulic support base.

[0018] The range of column load variation is from the initial support force setting value of the hydraulic support column to the safety valve opening setting value;

[0019] The load variation range of the balancing jack is from the maximum tensile force that the balancing jack can withstand to the safety valve opening setting value when under pressure.

[0020] Preferably, the step of searching the hydraulic support posture and support load mapping relationship library based on the real-time monitoring data of the column stroke, the balance jack stroke, the absolute tilt angle of the top beam, the absolute tilt angle of the shield beam, the absolute tilt angle of the base, the column load, and the balance jack load to obtain real-time numerical simulation and kinematic simulation includes:

[0021] The posture of the hydraulic support structure in the numerical calculation model and motion simulation model is determined based on the real-time monitoring data of the column stroke and the real-time monitoring data of the balance jack stroke.

[0022] The absolute spatial attitude of the hydraulic support is determined by real-time monitoring data of the absolute tilt angle of the base, the absolute tilt angle of the top beam, and the absolute tilt angle of the shield beam.

[0023] Based on the posture and absolute spatial posture of the hydraulic support structure, the top beam and base of the fixed hydraulic support are fixed, loads are applied to the column and the balancing jack, the stress and damage of the main structural components of the hydraulic support are obtained through numerical calculation model, and the motion trend of the hydraulic support is obtained through motion simulation model.

[0024] Preferably, the method for monitoring the support quality of the hydraulic support further includes:

[0025] The relative attitude of the hydraulic support with respect to the coal seam is obtained by the difference between the absolute spatial attitude of the hydraulic support and the absolute spatial attitude of the coal seam.

[0026] If the relative posture of the hydraulic support along the length of the working face is greater than 3°, the support posture is considered poor.

[0027] If the relative posture of the hydraulic support along the working face advance direction is greater than 5°, the support posture is determined to be poor.

[0028] Preferably, the evaluation indicators for the hydraulic support support quality include: the relative inclination angle between the hydraulic support top beam and the base, the relative inclination angle between the base and the coal seam, the degree of strength failure of the top beam, and the degree of strength failure of the shield beam.

[0029] Preferably, the step of obtaining the hydraulic support support quality monitoring results based on the real-time numerical simulation and kinematic simulation, according to the hydraulic support support quality evaluation index, includes:

[0030] If the relative tilt angle between the top beam and the base of the hydraulic support is greater than ±5°, the support quality is considered poor.

[0031] If the relative dip angle between the base and the coal seam is greater than ±10°, the support quality is considered poor.

[0032] If the failure rate of the top beam reaches 80%, the support quality is considered poor.

[0033] If the strength failure rate of the protective beam reaches 70%, the support quality is considered poor.

[0034] The present invention also provides a hydraulic support quality monitoring device, comprising:

[0035] The real-time simulation acquisition module is used to search the mapping relationship library between the hydraulic support posture and support load based on the real-time monitoring data of the column stroke, the balance jack stroke, the absolute tilt angle of the top beam, the absolute tilt angle of the shield beam, the absolute tilt angle of the base, the column load, and the balance jack load, to obtain real-time numerical calculation simulation and kinematic simulation.

[0036] The hydraulic support posture and support load mapping relationship library is constructed by using orthogonal experimental methods based on the pre-built numerical calculation model and motion simulation model of the hydraulic support, in the range of column stroke change, balance jack stroke change, lateral tilt angle, tilt angle, column load change, and balance jack load change, to obtain the numerical calculation simulation and kinematic simulation of the hydraulic support under different support postures and load states.

[0037] The monitoring result acquisition module is used to obtain the hydraulic support quality monitoring results based on the real-time numerical simulation and kinematic simulation, according to the hydraulic support support quality evaluation index.

[0038] The present invention also provides a hydraulic support quality monitoring system, comprising:

[0039] Column travel sensor, used to monitor column travel in real time;

[0040] A balance jack stroke sensor is used to monitor the balance jack stroke in real time.

[0041] Column pressure sensor is used to monitor column load in real time;

[0042] A pressure sensor for the balancing jack is used to monitor the load on the balancing jack in real time.

[0043] The hydraulic support top beam tilt sensor is used to monitor the absolute tilt angle of the top beam in real time.

[0044] Hydraulic support shield beam tilt sensor is used to monitor the absolute tilt angle of the shield beam in real time;

[0045] Hydraulic support base tilt sensor is used to monitor the absolute tilt angle of the base in real time;

[0046] Data transmission and storage device for real-time data transmission and storage;

[0047] The hydraulic support support quality monitoring data processing device mentioned above is used to obtain the hydraulic support support quality monitoring results based on real-time monitoring data of column stroke, real-time monitoring data of balance jack stroke, real-time monitoring data of absolute tilt angle of top beam, real-time monitoring data of absolute tilt angle of shield beam, real-time monitoring data of absolute tilt angle of base, real-time monitoring data of column load and real-time monitoring data of balance jack load.

[0048] The display terminal is used to display the monitoring results of the hydraulic support support quality.

[0049] The technical solution of the present invention has the following advantages compared with the prior art:

[0050] The hydraulic support quality monitoring method described in this invention, based on real-time monitoring data of column stroke, balance jack stroke, absolute tilt angle of top beam, shield beam, base, column load, and balance jack load, maps and analyzes the support posture and load of the hydraulic support to obtain real-time numerical simulation and kinematic simulation. Therefore, based on the hydraulic support quality evaluation indicators, the monitoring results of the hydraulic support quality are analyzed, providing a monitoring and evaluation method to improve the surrounding rock control effect of coal mining faces. Attached Figure Description

[0051] To make the content of this invention easier to understand, the invention will be further described in detail below with reference to specific embodiments and accompanying drawings, wherein:

[0052] Figure 1 The flowchart illustrates the implementation of a hydraulic support quality monitoring method provided by this invention.

[0053] Figure 2 This is a schematic diagram showing the top beam and base of the fixed hydraulic support, and the load applied to the column and the counterweight jack.

[0054] Figure 3 A structural block diagram of a hydraulic support support quality monitoring system provided in an embodiment of the present invention;

[0055] Figure descriptions: 1-Column stroke sensor, 2-Balance jack stroke sensor, 3-Column pressure sensor, 4-Balance jack pressure sensor, 5-Hydraulic support top beam tilt sensor, 6-Hydraulic support shield beam tilt sensor, 7-Hydraulic support base tilt sensor, 8-Data transmission and storage module, 9-Data processing module, 10-Display terminal. Detailed Implementation

[0056] The core of this invention is to provide a method, device, and system for monitoring the support quality of hydraulic supports, so as to scientifically evaluate the support quality of hydraulic supports.

[0057] To enable those skilled in the art to better understand the present invention, the invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Obviously, the described embodiments are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0058] Please refer to Figure 1 , Figure 1 The flowchart illustrates the implementation of a hydraulic support quality monitoring method provided by this invention; the specific operation steps are as follows:

[0059] S101: Based on real-time monitoring data of column stroke, balance jack stroke, top beam absolute tilt angle, shield beam absolute tilt angle, base absolute tilt angle, column load, and balance jack load, a search is performed in a pre-built database of hydraulic support posture and support load mapping relationships to find the simulation model that best approximates the monitoring results, and real-time numerical simulation and kinematic simulation are obtained.

[0060] The hydraulic support posture and support load mapping relationship library is constructed by using orthogonal experimental methods based on the pre-built numerical calculation model and motion simulation model of the hydraulic support, in the range of column stroke change, balance jack stroke change, lateral tilt angle, tilt angle, column load change, and balance jack load change, to obtain the numerical calculation simulation and kinematic simulation of the hydraulic support under different support postures and load states.

[0061] The numerical calculation model and motion simulation model of the hydraulic support are constructed using numerical simulation software based on the geometric dimensions and material properties of the hydraulic support design and manufacturing drawings. In one embodiment, the numerical calculation model of the hydraulic support is constructed using ANSYS software, and the motion simulation model of the hydraulic support is constructed using ADAMS software.

[0062] S102: Based on the real-time numerical simulation and kinematic simulation, the hydraulic support support quality monitoring results are obtained according to the hydraulic support support quality evaluation index.

[0063] Based on the above embodiments, this embodiment provides a detailed description of the column stroke variation range, balance jack stroke variation range, lateral tilt angle range, tilting angle range, column load variation range, and balance jack load variation range in step S101:

[0064] In order to fully cover the actual support height range of the hydraulic support, the minimum mining height of the coal seam is reduced by 200mm as the minimum support height of the hydraulic support; the maximum mining height of the coal seam is increased by 200mm as the maximum support height of the hydraulic support.

[0065] When the top beam of the hydraulic support is parallel to the base, the minimum and maximum support heights of the hydraulic support are defined as the stroke range of the hydraulic support column; the maximum extension and maximum retraction of the hydraulic support balancing jack are defined as the stroke range of the balancing jack; with the direction perpendicular to the coal face plane as the axis of rotation, the rotation angle at which the center of gravity of the hydraulic support deviates from the edge of the hydraulic support base is defined as the maximum lateral rotation angle of the hydraulic support, and the range from 0° to the maximum lateral rotation angle is defined as the lateral tilt angle range of the hydraulic support; with the length of the working face as the axis of rotation, the rotation angle at which the center of gravity of the hydraulic support deviates from the edge of the hydraulic support base is defined as the maximum tilt rotation angle of the hydraulic support, and the range from 0° to the maximum tilt rotation angle is defined as the tilt angle range of the hydraulic support; the range from the initial support force setting value of the hydraulic support column to the safety valve opening setting value is defined as the load range of the hydraulic support column; and the range from the maximum tensile force that the balancing jack can withstand to the safety valve opening setting value under pressure is defined as the load range of the hydraulic support balancing jack.

[0066] Based on the above embodiments, this embodiment provides a detailed explanation of how to construct a mapping relationship library between hydraulic support posture and support load:

[0067] The stroke variation intervals of the column were set to 50 mm, the stroke variation interval of the balancing jack to 10 mm, the lateral tilt angle interval to 0.5°, the tilt angle interval to 0.5°, the column load variation interval to 500 kN, and the balancing jack load variation interval to 50 kN. An orthogonal experimental matrix was constructed, and numerical simulation and kinematic simulation of the hydraulic support were carried out respectively. The simulation results were stored sequentially with the stroke variation of the column as the main directory and the stroke variation of the balancing jack as the secondary directory, thus constructing a mapping relationship library between the hydraulic support posture and the support load.

[0068] Based on the above embodiments, this embodiment provides a detailed explanation of how to obtain real-time numerical simulation and kinematic simulation:

[0069] Due to significant differences in coal seam occurrence conditions and surrounding rock mechanical parameters among different coal mines, and even variations in overburden conditions and rock mechanical parameters across different areas of the same coal mine, it is difficult to simulate and analyze the fracture process of the overburden using numerical or similar simulation methods. Therefore, it is challenging to accurately obtain the external loading form and load magnitude of the hydraulic support. To address this, an internal loading method is used for numerical calculation and motion simulation of the hydraulic support. Specifically, the posture of the hydraulic support's support structure in the numerical calculation model and motion simulation model is determined based on the stroke values ​​of the column and the balance jack. The spatial absolute posture value of the hydraulic support is determined through the base inclination angle, top beam inclination angle, and shield beam inclination angle. Based on the support structure posture and spatial absolute posture of the hydraulic support, the top beam and base of the hydraulic support are fixed, and loads are applied to the column and balance jack. (See...) Figure 2 As shown, the stress and damage of the main structural components of the hydraulic support can be obtained through numerical calculation models, and the motion trend of the hydraulic support can be obtained through motion simulation models.

[0070] Based on the above embodiments, this embodiment provides a detailed description of step S102:

[0071] The evaluation indicators for the support quality of hydraulic supports are the relative inclination angle between the hydraulic support top beam and the base, the relative inclination angle between the base and the coal seam, the degree of strength failure of the top beam, and the degree of strength failure of the shield beam. If the relative inclination angle between the hydraulic support top beam and the base is greater than ±5°, it indicates poor support quality and an alarm should be triggered. If the relative inclination angle between the base and the coal seam is greater than ±10°, it indicates poor support quality and an alarm should be triggered. If the degree of strength failure of the top beam reaches 80%, that is, the maximum stress borne by the top beam of the hydraulic support in the numerical simulation results reaches 80% of the allowable stress, it indicates poor support quality and an alarm should be triggered. If the degree of strength failure of the shield beam reaches 70%, it indicates poor support quality and an alarm should be triggered.

[0072] Based on the above embodiments, the hydraulic support quality monitoring method of the present invention further includes:

[0073] Continuous monitoring data of column stroke, balance jack stroke, absolute tilt angle of top beam, shield beam, base, column load, and balance jack load are input into a pre-built hydraulic support posture and load prediction model. This model predicts the development trends of the hydraulic support posture and load, and analyzes the development trend of hydraulic support quality based on hydraulic support quality evaluation indicators.

[0074] The hydraulic support posture and load prediction model is modeled by using time-series data modeling methods to model the data in the mapping relationship library between the hydraulic support posture and support load. For example, ARIMA, LSTM and other models can be used for data modeling.

[0075] Based on the above embodiments, the present invention also provides a hydraulic support quality monitoring device, comprising:

[0076] The real-time simulation acquisition module is used to search the mapping relationship library between the hydraulic support posture and support load based on the real-time monitoring data of the column stroke, the balance jack stroke, the absolute tilt angle of the top beam, the absolute tilt angle of the shield beam, the absolute tilt angle of the base, the column load, and the balance jack load, to obtain real-time numerical calculation simulation and kinematic simulation.

[0077] The hydraulic support posture and support load mapping relationship library is constructed by using orthogonal experimental methods based on the pre-built numerical calculation model and motion simulation model of the hydraulic support, in the range of column stroke change, balance jack stroke change, lateral tilt angle, tilt angle, column load change, and balance jack load change, to obtain the numerical calculation simulation and kinematic simulation of the hydraulic support under different support postures and load states.

[0078] The monitoring result acquisition module is used to obtain the hydraulic support quality monitoring results based on the real-time numerical simulation and kinematic simulation, according to the hydraulic support support quality evaluation index.

[0079] Please refer to Figure 3 , Figure 3 A structural block diagram of a hydraulic support support quality monitoring system provided in an embodiment of the present invention; comprising:

[0080] Column travel sensor, used to monitor column travel in real time;

[0081] A balance jack stroke sensor is used to monitor the balance jack stroke in real time.

[0082] Column pressure sensor is used to monitor column load in real time;

[0083] A pressure sensor for the balancing jack is used to monitor the load on the balancing jack in real time.

[0084] The hydraulic support top beam tilt sensor is used to monitor the absolute tilt angle of the top beam in real time.

[0085] Hydraulic support shield beam tilt sensor is used to monitor the absolute tilt angle of the shield beam in real time;

[0086] Hydraulic support base tilt sensor is used to monitor the absolute tilt angle of the base in real time;

[0087] Data transmission and storage device for real-time data transmission and storage;

[0088] The hydraulic support support quality monitoring data processing device mentioned above is used to obtain the hydraulic support support quality monitoring results based on real-time monitoring data of column stroke, real-time monitoring data of balance jack stroke, real-time monitoring data of absolute tilt angle of top beam, real-time monitoring data of absolute tilt angle of shield beam, real-time monitoring data of absolute tilt angle of base, real-time monitoring data of column load and real-time monitoring data of balance jack load.

[0089] The display terminal is used to display the monitoring results of the hydraulic support support quality.

[0090] Based on real-time monitoring results of the tilt angles of the hydraulic support's top beam, shield beam, and base, the spatial support posture of the hydraulic support can be determined. Furthermore, based on the relative relationships between the tilt angles of the top beam, shield beam, and base, the monitored values ​​of the hydraulic support's column stroke and the balance jack stroke can be cross-checked. Specifically: the relative angular values ​​between the top beam, shield beam, and base of the hydraulic support can be obtained through numerical calculation models and motion simulation models based on the monitored values ​​of the hydraulic support's column stroke and balance jack stroke; similarly, the relative angular relationships between the top beam, shield beam, and base of the hydraulic support can also be obtained based on the monitored values ​​of the top beam tilt angle, shield beam tilt angle, and base tilt angle. If the results calculated by the two monitoring methods are not significantly different, it indicates that the sensor is normal; otherwise, it indicates that the sensor is faulty and should be investigated and replaced. Additionally, the absolute spatial attitude of the hydraulic support can be calculated using the monitored values ​​of the top beam inclination angle, the shield beam inclination angle, and the base inclination angle. Subtracting the absolute spatial attitude of the coal seam from the absolute spatial attitude of the hydraulic support yields the relative attitude of the hydraulic support relative to the coal seam. If the relative attitude (relative inclination angle) of the hydraulic support along the length of the working face is greater than 3°, it indicates that the support attitude of the hydraulic support is poor and should be adjusted. If the relative attitude (relative inclination angle) of the hydraulic support along the direction of the working face advance is greater than 5°, it indicates that the support attitude of the hydraulic support is poor and should be adjusted.

[0091] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0092] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0093] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0094] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0095] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the scope of protection of this invention.

Claims

1. A hydraulic support support quality monitoring method, characterized in that, Comprise: According to the real-time monitoring data of the column stroke, the real-time monitoring data of the balance jack stroke, the real-time monitoring data of the absolute inclination angle of the roof beam, the real-time monitoring data of the absolute inclination angle of the shield beam, the real-time monitoring data of the absolute inclination angle of the base, the real-time monitoring data of the column load and the real-time monitoring data of the balance jack load, search in the pre-constructed hydraulic support support posture and support load mapping relationship library to obtain real-time numerical calculation simulation and kinematics simulation: According to the real-time monitoring data of the column stroke, the real-time monitoring data of the balance jack stroke, the real-time monitoring data of the absolute inclination angle of the roof beam, the real-time monitoring data of the absolute inclination angle of the shield beam, the real-time monitoring data of the absolute inclination angle of the base, the real-time monitoring data of the column load and the real-time monitoring data of the balance jack load, search in the pre-constructed hydraulic support support posture and support load mapping relationship library to obtain real-time numerical calculation simulation and kinematics simulation: According to the real-time monitoring data of the column stroke, the real-time monitoring data of the balance jack stroke, the real-time monitoring data of the absolute inclination angle of the roof beam, the real-time monitoring data of the absolute inclination angle of the shield beam, the real-time monitoring data of the absolute inclination angle of the base, the real-time monitoring data of the column load and the real-time monitoring data of the balance jack load, search in the pre-constructed hydraulic support support posture and support load mapping relationship library to obtain real-time numerical calculation simulation and kinematics simulation: According to the real-time monitoring data of the column stroke, the real-time monitoring data of the balance jack stroke, the real-time monitoring data of the absolute inclination angle of the roof beam, the real-time monitoring data of the absolute inclination angle of the shield beam, the real-time monitoring data of the absolute inclination angle of the base, the real-time monitoring data of the column load and the real-time monitoring data of the balance jack load, search in the pre-constructed hydraulic support support posture and support load mapping relationship library to obtain real-time numerical calculation simulation and kinematics simulation: The numerical calculation model and the motion simulation model of the hydraulic support are constructed according to the geometric size and material properties of the hydraulic support design and manufacturing drawings by using numerical simulation software. The column stroke variation interval is the minimum support height to the maximum support height of the hydraulic support when the roof beam and the base are parallel; 2. The hydraulic support support quality monitoring method according to claim 1, characterized by, The balance jack stroke variation interval is the maximum extension to the maximum retraction of the hydraulic support balance jack; The column stroke variation interval is the minimum support height to the maximum support height of the hydraulic support when the roof beam and the base are parallel; The balance jack stroke variation interval is the maximum extension to the maximum retraction of the hydraulic support balance jack; 3. The hydraulic support support quality monitoring method according to claim 1, characterized by, ​ 4. The hydraulic support support quality monitoring method according to claim 1, characterized by, ​ ​ The lateral skew angle interval is 0° to a maximum lateral rotation angle, the maximum lateral rotation angle is a rotation angle of a gravity center of the hydraulic support deviating from an edge of a base of the hydraulic support when the hydraulic support rotates around an axis of a vertical coal wall plane direction as a rotation axis; The downward tilt angle interval is 0° to a maximum downward tilt rotation angle, the maximum downward tilt rotation angle is a rotation angle of the gravity center of the hydraulic support deviating from the edge of the base of the hydraulic support when the hydraulic support rotates around an axis of a length direction of the working face as the rotation axis; The column load change interval is a set value of an initial support force of a column of the hydraulic support to a set value of opening of a safety valve; The balance jack load change interval is a maximum tension force that can be borne by the balance jack to the set value of opening of the safety valve when the balance jack is under pressure.

5. The hydraulic support support quality monitoring method according to claim 1, characterized in that, Further comprising: obtaining a relative attitude of the hydraulic support relative to the coal seam according to a difference between the spatial absolute attitude of the hydraulic support and the spatial absolute attitude of the coal seam; if the relative attitude of the hydraulic support in the length direction of the working face is greater than 3°, it is determined that the support attitude is poor; if the relative attitude of the hydraulic support in the advancing direction of the working face is greater than 5°, it is determined that the support attitude is poor.

6. The hydraulic support support quality monitoring method according to claim 1, characterized in that, The hydraulic support support quality evaluation index includes: a relative inclination angle between the top beam and the base of the hydraulic support, a relative inclination angle between the base and the coal seam, a top beam strength failure degree, and a shield beam strength failure degree.

7. The hydraulic support support quality monitoring method according to claim 6, characterized in that, The hydraulic support support quality monitoring result obtained according to the real-time numerical calculation simulation and the kinematics simulation based on the hydraulic support support quality evaluation index includes: if the relative inclination angle between the top beam and the base of the hydraulic support is greater than ±5°, it is determined that the support quality is poor; if the relative inclination angle between the base and the coal seam is greater than ±10°, it is determined that the support quality is poor; if the top beam strength failure degree reaches 80%, it is determined that the support quality is poor; if the shield beam strength failure degree reaches 70%, it is determined that the support quality is poor.

8. A hydraulic support support quality monitoring device, characterized in that, Comprising: a real-time simulation acquisition module, configured to search in the hydraulic support support attitude and support load mapping relationship library according to column stroke real-time monitoring data, balance jack stroke real-time monitoring data, top beam absolute inclination angle real-time monitoring data, shield beam absolute inclination angle real-time monitoring data, base absolute inclination angle real-time monitoring data, column load real-time monitoring data, and balance jack load real-time monitoring data, to obtain real-time numerical calculation simulation and kinematics simulation: determine the support structure attitude of the hydraulic support in the numerical calculation model and the motion simulation model according to the column stroke real-time monitoring data and the balance jack stroke real-time monitoring data, determine the spatial absolute attitude of the hydraulic support through the base absolute inclination angle real-time monitoring data, the top beam absolute inclination angle real-time monitoring data, and the shield beam absolute inclination angle real-time monitoring data, based on the support structure attitude and the spatial absolute attitude of the hydraulic support, fix the top beam and the base of the hydraulic support, apply loads to the column and the balance jack, obtain the stress and damage of the main structural members of the hydraulic support through the numerical calculation model, and obtain the motion trend of the hydraulic support through the motion simulation model, The hydraulic support support posture and support load mapping relationship library is constructed based on a numerical calculation model and a motion simulation model of a hydraulic support, and is constructed by numerical calculation simulation and kinematics simulation of different support postures and different load states of the hydraulic support in a column stroke change interval, a balance jack stroke change interval, a lateral skew angle interval, a downward tilt angle interval, a column load change interval, and a balance jack load change interval, using an orthogonal test method. The monitoring result acquisition module is configured to obtain a hydraulic support support quality monitoring result based on the real-time numerical calculation simulation and kinematics simulation and according to a hydraulic support support quality evaluation index.

9. A hydraulic support support quality monitoring system, characterized in that, The hydraulic support support quality monitoring device comprises: a column stroke sensor configured to monitor a column stroke in real time; a balance jack stroke sensor configured to monitor a balance jack stroke in real time; a column pressure sensor configured to monitor a column load in real time; a balance jack pressure sensor configured to monitor a balance jack load in real time; a hydraulic support top beam inclination sensor configured to monitor a top beam absolute inclination angle in real time; a hydraulic support shield beam inclination sensor configured to monitor a shield beam absolute inclination angle in real time; a hydraulic support base inclination sensor configured to monitor a base absolute inclination angle in real time; a data transmission and storage device configured to transmit and store data in real time; The hydraulic support support quality monitoring device according to claim 8 is configured to obtain a hydraulic support support quality monitoring result based on column stroke real-time monitoring data, balance jack stroke real-time monitoring data, top beam absolute inclination angle real-time monitoring data, shield beam absolute inclination angle real-time monitoring data, base absolute inclination angle real-time monitoring data, column load real-time monitoring data, and balance jack load real-time monitoring data. A display terminal is configured to display the hydraulic support support quality monitoring result.

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