Hydraulic support three-dimensional space attitude real-time monitoring device and monitoring method

Abstract

The invention provides a hydraulic support three-dimensional space attitude real-time monitoring device and method, and the device comprises a plurality of attitude sensors which are disposed on different parts and are used for collecting attitude data of each part of a hydraulic support in real time, and outputting three-axis angle data with timestamps; the data acquisition controller is used for receiving the three-axis angle data with the timestamps and performing time synchronization on the attitude sensors according to the three-axis angle data with the timestamps; the industrial control host is used for fusing the output data of the attitude sensors after time synchronization and fitting the spatial attitude of the whole hydraulic support; the upper computer is used for obtaining, storing and graphically displaying the spatial attitude of the whole hydraulic support, and the spatial attitude of the whole hydraulic support is monitored by fitting the spatial attitude of the whole hydraulic support. And time synchronization is adopted, so that sampling delay caused by a communication period can be avoided, and the aim of real-time and synchronous monitoring can be achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control of underground equipment in coal mines, and in particular to a real-time monitoring device and method for the three-dimensional spatial posture of a hydraulic support. Background Art

[0002] Coal is an important basic energy and raw material in my country. The working environment of the fully-mechanized mining face in underground coal mines is harsh, the labor intensity of miners is high, the health hazards are great, and even life-threatening. With the development of science and technology, the coal mining industry has continuously introduced new automation control technologies, and its automation level has gradually increased. The working conditions of workers have been improved to a certain extent, but the complex and harsh working conditions of the fully-mechanized mining face still endanger the health and life of workers. Hydraulic supports in underground coal mines are mainly used to support the roof of the fully-mechanized mining face and to push the scraper forward during coal mining, providing a safe and reliable support environment for workers and their coal mining equipment. In order to realize remote unmanned coal mining, it is necessary to accurately grasp the support and movement status of each hydraulic support on the working face. However, there is a lack of effective perception methods for the support posture. In the relevant technology, when monitoring the posture of the hydraulic support, only the angle detection of the installation position of the top beam, base and other components in one direction is carried out, and there is a lack of overall detection of the overall posture of the hydraulic support, which affects the accuracy of the monitoring results. Summary of the invention

[0003] The present invention provides a real-time monitoring device and method for the three-dimensional spatial posture of a hydraulic support, which is used to solve the defect that the traditional hydraulic support posture monitoring method only performs angle detection at the installation position of components such as a top beam and a base in a single direction, lacks overall detection of the overall posture of the hydraulic support, and affects the accuracy of the monitoring results.

[0004] The present invention provides a three-dimensional spatial posture real-time monitoring device for a hydraulic support, comprising: A plurality of attitude sensors, which are arranged on different components and are used to collect attitude data of various components of the hydraulic support in real time and output three-axis angle data with time stamps; A data acquisition controller, used for receiving the three-axis angle data with time stamps, and performing time synchronization on each attitude sensor according to the three-axis angle data with time stamps; The industrial control host is used to fuse the output data of multiple attitude sensors after time synchronization and fit the spatial attitude of the entire hydraulic support; The host computer is used to obtain, store and graphically display the spatial posture of the hydraulic support.

[0005] According to the real-time monitoring device for the three-dimensional posture of a hydraulic support provided by the present invention, a collection frequency is set inside each of the posture sensors, and different posture sensors have different collection frequencies, so that posture sensors with different collection frequencies can measure the changes in component posture angles in different frequency bands.

[0006] According to the real-time monitoring device for the three-dimensional spatial posture of the hydraulic support provided by the present invention, the components include at least one of a base, a four-link, a tail beam, a top beam, a shield beam, and a guard plate, and each posture sensor is used to monitor the posture changes of the corresponding component.

[0007] According to the real-time monitoring device for the three-dimensional spatial posture of a hydraulic support provided by the present invention, the industrial control host is also used for: According to the size of each component of the hydraulic support, the mutual assembly relationship and the three-axis angle data in the component coordinate system output by a single attitude sensor, data fusion is performed, the component coordinate system is converted into the hydraulic support coordinate system, and the spatial attitude of the entire hydraulic support in the hydraulic support coordinate system is fitted.

[0008] According to the three-dimensional spatial attitude real-time monitoring device of the hydraulic support provided by the present invention, the attitude sensor comprises: Accelerometer and gyroscope; The accelerometer is used to measure the acceleration of the component in three mutually perpendicular axes; The gyroscope is used to measure the rotation speed of the component around three mutually perpendicular axes; When the accelerometer and the gyroscope are installed on different components of the hydraulic support, the three-axis acceleration, angular velocity and angle information of the corresponding components in different motion states are collected in real time.

[0009] According to the real-time monitoring device for the three-dimensional spatial posture of the hydraulic support provided by the present invention, the data acquisition controller and the posture sensor perform data exchange based on a serial communication method, and the data acquisition controller is also used for: A time synchronization instruction is sent to multiple attitude sensors, wherein the time synchronization instruction includes an instruction communication cycle, so that after receiving the time synchronization instruction, the multiple attitude sensors determine their respective timestamp starting points according to the instruction communication cycle, so as to synchronize the time between the multiple attitude sensors.

[0010] According to the real-time monitoring device for the three-dimensional spatial posture of the hydraulic support provided by the present invention, the data acquisition controller is also used for: Receive the time synchronization instruction sent by the host computer, identify all data at the same time according to the timestamp of each attitude sensor, and send all data at the same time to the industrial control host according to the communication cycle.

[0011] According to the real-time monitoring device for the three-dimensional spatial posture of a hydraulic support provided by the present invention, the industrial control host and the data acquisition controller communicate with each other using Ethernet or CAN bus.

[0012] The present invention also provides a method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support, which is applicable to any of the above-mentioned real-time monitoring devices for the three-dimensional spatial posture of a hydraulic support, comprising: Each attitude sensor determines its own timestamp starting point based on the received time synchronization command and communication cycle; The data acquisition controller collects the data of each attitude sensor at the same time according to the timestamp starting point of each attitude sensor, and sends the data at the same time to the industrial control host; The industrial control host fuses the data at the same time to generate the spatial posture data of the hydraulic support; The host computer receives and displays the spatial posture data of the hydraulic support in real time.

[0013] According to the method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support provided by the present invention, the industrial control host fuses the data at the same time to generate spatial posture data of the entire hydraulic support, including: According to the size of each component of the hydraulic support, the mutual assembly relationship and the three-axis angle data in the component coordinate system output by a single attitude sensor, data fusion is performed, the component coordinate system is converted into the hydraulic support coordinate system, and the spatial attitude of the entire hydraulic support in the hydraulic support coordinate system is fitted.

[0014] The present invention provides a real-time monitoring device and method for the three-dimensional spatial attitude of a hydraulic support, and the real-time monitoring device for the three-dimensional spatial attitude of a hydraulic support comprises: a plurality of attitude sensors, which are arranged on different components and are used to collect attitude data of each component of the hydraulic support in real time and output three-axis angle data with a time stamp; a data acquisition controller, which is used to receive the three-axis angle data with a time stamp and perform time synchronization on each attitude sensor according to the three-axis angle data with a time stamp; an industrial control host, which is used to fuse the output data of the multiple attitude sensors after time synchronization and fit the spatial attitude of the entire hydraulic support; a host computer, which is used to acquire, store and graphically display the spatial attitude of the entire hydraulic support. The present invention monitors the spatial attitude of the entire hydraulic support by fitting the spatial attitude of the entire hydraulic support. In addition, the use of time synchronization can avoid the sampling delay caused by the communication cycle, and ensure that the purpose of real-time and synchronous monitoring can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0016] Figure 1 is a schematic diagram of a device for real-time monitoring of a three-dimensional spatial posture of a hydraulic support provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the relationship between the component coordinate system and the hydraulic support coordinate system provided by an embodiment of the present invention; Figure 3 This is one of the flow charts of the method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support provided in an embodiment of the present invention; Figure 4 This is the second flow chart of the method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Figure 1 A schematic diagram of a real-time monitoring structure of a hydraulic support in three-dimensional space provided by an embodiment of the present invention is shown in FIG. Figure 1 As shown, the three-dimensional spatial posture real-time monitoring device of the hydraulic support provided by the embodiment of the present invention comprises: A plurality of attitude sensors, which are arranged on different components and are used to collect attitude data of various components of the hydraulic support in real time and output three-axis angle data with time stamps; A data acquisition controller, used for receiving the three-axis angle data with time stamps, and performing time synchronization on each attitude sensor according to the three-axis angle data with time stamps; The industrial control host is used to fuse the output data of multiple attitude sensors after time synchronization and fit the spatial attitude of the entire hydraulic support; The host computer is used to obtain, store and graphically display the spatial posture of the hydraulic support.

[0019] In the embodiment of the present invention, the industrial control host can fuse the output data of multiple attitude sensors. The output data of a single attitude sensor belongs to the component coordinate system. The industrial control host fuses the data according to the size of each component of the hydraulic support, the mutual assembly relationship and the sensor data, and then realizes the transformation from the component coordinate system to the hydraulic support coordinate system, thereby fitting the spatial attitude of the entire hydraulic support. The host computer mainly acquires, stores and graphically displays the human-machine interface data of the spatial attitude of the entire hydraulic support, so as to carry out real-time monitoring in the dispatching command center.

[0020] When monitoring the posture of traditional hydraulic supports, only the angle detection of the installation positions of the top beam, base and other components in one direction is performed. There is a lack of overall detection of the overall posture of the hydraulic support, which affects the accuracy of the monitoring results.

[0021] The three-dimensional spatial attitude real-time monitoring device of the hydraulic support provided by the embodiment of the present invention comprises: a plurality of attitude sensors, which are arranged on different components and used to collect attitude data of each component of the hydraulic support in real time and output three-axis angle data with time stamp; a data acquisition controller, which is used to receive the three-axis angle data with time stamp and synchronize each attitude sensor according to the three-axis angle data with time stamp; an industrial control host, which is used to fuse the output data of the plurality of attitude sensors after time synchronization and fit the spatial attitude of the whole hydraulic support; a host computer, which is used to acquire, store and graphically display the spatial attitude of the whole hydraulic support. The present invention realizes monitoring the spatial attitude of the whole hydraulic support by fitting the spatial attitude of the whole hydraulic support. And the use of time synchronization can avoid the sampling delay caused by the communication cycle, and ensure that the purpose of real-time and synchronous monitoring can be achieved.

[0022] Based on any of the above embodiments, each of the posture sensors is internally provided with an acquisition frequency, and different posture sensors have different acquisition frequencies, so that posture sensors with different acquisition frequencies can measure the angle changes of component postures in different frequency bands. In the embodiment of the present invention, a certain frequency can be set inside the posture sensor to measure the angle changes in different frequency bands, thereby meeting the angle measurement requirements of working surface equipment such as hydraulic supports.

[0023] In the embodiment of the present invention, the components include but are not limited to a base, a four-link, a tail beam, a top beam, a shield beam, a guard plate, etc., and each posture sensor is used to monitor the posture change of the corresponding component.

[0024] The attitude sensor can be installed in working surface equipment such as hydraulic supports. The specific number of installations is determined by the topological structure of the hydraulic support itself. The hydraulic support is composed of a base, a four-link, a tail beam, a top beam, a shield beam, a guard plate and other components. In theory, attitude sensors can be installed on these components for angle measurement. The three-axis attitude data includes pitch, roll and yaw. The attitude sensor itself can output three-axis angle data. The specific number of output axes can be determined according to the angle measurement requirements of different components of the hydraulic support and the output range of the sensor, including 1-axis / 2-axis / 3-axis data. For example, the guard plate only needs to output pitch angle data.

[0025] In an embodiment of the present invention, the posture sensor includes: Accelerometer and gyroscope; The accelerometer is used to measure the acceleration of the component in three mutually perpendicular axes; The gyroscope is used to measure the rotation speed of the component around three mutually perpendicular axes; When the accelerometer and the gyroscope are installed on different components of the hydraulic support, the three-axis acceleration, angular velocity and angle information of the corresponding components in different motion states are collected in real time.

[0026] The acceleration and angular velocity signals are generated by the accelerometer and gyroscope inside the attitude sensor respectively, and then the angle change data is calculated through a data fusion algorithm. The fusion algorithm includes but is not limited to complementary filtering, extended Kalman filtering, and adaptive filtering algorithms.

[0027] The attitude sensor can measure the three-axis static attitude angle under static conditions, and can also measure the dynamic angle changes caused by forces other than gravity.

[0028] The output data of the attitude sensor is timestamped, which is used for data synchronization between multiple sensor output signals; and it has a data recording function, which can store data before the current signal occurs, to meet the real-time requirements of subsequent hydraulic support whole machine attitude detection.

[0029] In the embodiment of the present invention, multiple attitude sensors realize real-time detection including time synchronization and real-time acquisition. Real-time means that the sensor and the acquisition controller can communicate in real time at high speed, and synchronization requires that the data of multiple attitude sensors are generated at the same time as much as possible, so the data acquisition controller needs to send a time synchronization instruction and take the time difference caused by the data transmission cycle into account.

[0030] In order to ensure real-time monitoring, the attitude sensor itself needs to have a high data output frequency, and the data acquisition controller and the attitude sensor need to communicate at high speed. Usually the data output frequency and communication cycle are within tens to hundreds of hertz, so that accurate detection of attitude angle changes and data acquisition and transmission can be achieved at the installation location.

[0031] Based on any of the above embodiments, the data acquisition controller and the posture sensor perform data exchange based on a serial communication method, and the data acquisition controller is further used for: A time synchronization instruction is sent to multiple attitude sensors, wherein the time synchronization instruction includes an instruction communication cycle, so that after receiving the time synchronization instruction, the multiple attitude sensors determine their respective timestamp starting points according to the instruction communication cycle, so as to synchronize the time between the multiple attitude sensors.

[0032] In the embodiment of the present invention, the data acquisition controller includes active request and broadcast receiving modes. The communication cycle can meet the real-time data acquisition requirements of each sensor; the synchronization function is used to send time synchronization instructions to multiple attitude sensors, and the instruction communication cycle can be set and determined. After receiving the time synchronization instruction, the multiple attitude sensors can determine their respective timestamp starting points according to the instruction communication cycle to achieve the purpose of time synchronization between the multiple attitude sensors.

[0033] Based on any of the above embodiments, the industrial control host is also used for: According to the size of each component of the hydraulic support, the mutual assembly relationship and the three-axis angle data in the component coordinate system output by a single attitude sensor, data fusion is performed, the component coordinate system is converted into the hydraulic support coordinate system, and the spatial attitude of the entire hydraulic support in the hydraulic support coordinate system is fitted.

[0034] In the embodiment of the present invention, through time synchronization and real-time monitoring, communication delay can be taken into account to achieve time synchronization function, and data at the installation positions of different components of the entire hydraulic support can be obtained at the same time, and data fusion can be performed according to the spatial size of the hydraulic support, the mutual coordination relationship and the touch sensor data, and the component coordinate system is converted to the hydraulic support coordinate system to fit the spatial posture of the entire hydraulic support. Figure 2As shown in the figure, the local coordinate system data of each component of the hydraulic support, such as the base, shield beam, tail beam, and top beam, are converted into the spatial attitude of the overall coordinate system of the hydraulic support. The attitude sensor installed on each component can provide the three-axis angle data of the component (i.e., pitch angle, roll angle, and heading angle). Define a global coordinate system as a reference, and usually select the center point of the base as the origin. In addition, each component has its own local coordinate system. Use data fusion algorithms (such as complementary filtering, extended Kalman filtering, etc.) to integrate the data of multiple sensors to reduce errors and improve the stability of attitude estimation. Using the known geometric relationship and connection method between components, the local attitude data of each component is converted to the global coordinate system. This usually involves the operation of rotation matrix or quaternion. According to the mechanical structure of the hydraulic support, a mathematical model is established to describe the kinematic relationship between the components. Solve the equation group, use the attitude data in the global coordinate system, substitute it into the mathematical model, and obtain the overall attitude of the hydraulic support by solving the corresponding equation group. Through the above steps, the three-axis angle data of each component of the hydraulic support in the local coordinate system can be converted into the spatial posture in the global coordinate system, thereby realizing accurate monitoring of the overall posture of the hydraulic support.

[0035] In the embodiment of the present invention, the industrial control host and the data acquisition controller communicate with each other via Ethernet or CAN bus.

[0036] In an embodiment of the present invention, the data acquisition controller is further used for: Receive the time synchronization instruction sent by the host computer, identify all data at the same time according to the timestamp of each attitude sensor, and send all data at the same time to the industrial control host according to the communication cycle.

[0037] After the attitude sensor obtains the time synchronization instruction, it can set its own timestamp starting point according to the communication cycle; in real-time monitoring, the data attitude sensor can store data at the current time point and the previous time. The amount of stored data can be set. After taking into account the delay caused by communication, it outputs the data at the same time as other attitude sensors.

[0038] The three-dimensional spatial attitude real-time monitoring device of the hydraulic support provided by the embodiment of the present invention can output three-axis angle data with timestamps on a single attitude sensor, can measure static and dynamic angles, and can be installed on various components of the hydraulic support at the same time, and can convert the component coordinate system into the support coordinate system to monitor the spatial attitude of the entire hydraulic support. The host computer issues a time synchronization instruction, which is sent to multiple attitude sensors through the industrial control host and the data acquisition controller. Each sensor can perform initial time synchronization according to the communication cycle and synchronization instruction; during the data acquisition process, each sensor can store the data at and before the acquisition time, and send data at the same time according to the communication cycle. The system can identify all data at the same time according to the data timestamp, and perform spatial attitude fusion, thereby fitting the attitude of the entire hydraulic support, and uploading it to the host computer for real-time display according to the time, so as to achieve time synchronization and real-time monitoring.

[0039] The following is a description of the three-dimensional spatial attitude real-time monitoring method for a hydraulic support provided by the present invention. The three-dimensional spatial attitude real-time monitoring method for a hydraulic support described below and the three-dimensional spatial attitude real-time monitoring device for a hydraulic support described above can be referenced to each other.

[0040] Figure 3 A flow chart of a method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support provided by an embodiment of the present invention includes: Step 301, each attitude sensor determines its own timestamp starting point according to the received time synchronization instruction and communication cycle; Step 302, the data acquisition controller collects the data of each attitude sensor at the same time according to the timestamp starting point of each attitude sensor, and sends the data at the same time to the industrial control host; Step 303: the industrial control host fuses the data at the same time to generate spatial posture data of the hydraulic support; Step 304: The host computer receives and displays the spatial posture data of the hydraulic support in real time.

[0041] In the embodiment of the present invention, before each attitude sensor determines its own timestamp starting point according to the received time synchronization instruction and the communication cycle, the process further includes: The host computer sends a time synchronization instruction to the industrial control host; the industrial control host receives the time synchronization instruction and transmits the time synchronization instruction to each posture sensor via the data acquisition controller.

[0042] In the embodiment of the present invention, the industrial control host performs fusion processing on the data at the same time to generate the spatial posture data of the hydraulic support machine, including: According to the size of each component of the hydraulic support, the mutual assembly relationship and the three-axis angle data in the component coordinate system output by a single attitude sensor, data fusion is performed, the component coordinate system is converted into the hydraulic support coordinate system, and the spatial attitude of the entire hydraulic support in the hydraulic support coordinate system is fitted.

[0043] like Figure 4 As shown, the specific process of the real-time monitoring method of the three-dimensional spatial posture of the hydraulic support provided by the embodiment of the present invention includes: the host computer issues a time synchronization instruction to the industrial control host, the industrial control host sends the instruction to the data acquisition controller, and sends it to each attitude sensor through serial port communication. The attitude sensors determine their own delays according to the sensor installation topology and communication cycle, calculate their own timestamp starting points, and transmit the moment data back to the data acquisition controller by request / send. The data has a synchronized timestamp.

[0044] The data acquisition controller sends a data request instruction, and each attitude sensor collects and stores the current data, and then returns the same time data to the data acquisition controller according to their respective timestamps and communication cycles, thereby eliminating the delay introduced by serial communication and achieving the purpose of real-time monitoring. The industrial control host analyzes the data sent by the data acquisition controller, integrates and solves the hydraulic support attitude data in the support coordinate system, and sends it to the host computer in chronological order for display and monitoring. Through time synchronization and real-time transmission of data in the communication process, the real-time monitoring function of the hydraulic support attitude can be achieved in time and space.

[0045] The method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support provided by an embodiment of the present invention includes sending a time synchronization instruction to an industrial control host through a host computer; the industrial control host receives the time synchronization instruction and transmits the time synchronization instruction to each posture sensor through a data acquisition controller; each posture sensor determines its own timestamp starting point according to the received time synchronization instruction and the communication cycle; the data acquisition controller collects the data of each posture sensor at the same time according to the timestamp starting point of each posture sensor, and sends the data at the same time to the industrial control host; the industrial control host performs fusion processing on the data at the same time to generate the spatial posture data of the hydraulic support; the host computer receives and displays the spatial posture data of the hydraulic support in real time, so as to realize the monitoring of the spatial posture of the entire hydraulic support. In addition, the use of time synchronization can avoid the sampling delay caused by the communication cycle, and ensure that the purpose of real-time and synchronous monitoring can be achieved.

[0046] The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. Ordinary technicians in this field can understand and implement it without paying creative labor.

[0047] Through the description of the above implementation methods, those skilled in the art can clearly understand that each implementation method can be implemented by means of software plus a necessary general hardware platform, and of course, can also be implemented by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the relevant technology can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiment.

[0048] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A real-time monitoring device for the three-dimensional spatial posture of a hydraulic support, characterized in that: include: A plurality of attitude sensors, which are arranged on different components and are used to collect attitude data of various components of the hydraulic support in real time and output three-axis angle data with time stamps; A data acquisition controller, used for receiving the three-axis angle data with time stamps, and performing time synchronization on each attitude sensor according to the three-axis angle data with time stamps; The industrial control host is used to fuse the output data of multiple attitude sensors after time synchronization and fit the spatial attitude of the entire hydraulic support; The host computer is used to obtain, store and graphically display the spatial posture of the hydraulic support.

2. The three-dimensional spatial posture real-time monitoring device of a hydraulic support according to claim 1 is characterized in that: Each of the posture sensors is internally provided with a collection frequency, and different posture sensors have different collection frequencies, so that posture sensors with different collection frequencies can measure changes in component posture angles in different frequency bands.

3. The real-time monitoring device for the three-dimensional spatial posture of a hydraulic support according to claim 1 is characterized in that: The components include at least one of a base, a four-link, a tail beam, a top beam, a shield beam, and a guard plate, and each posture sensor is used to monitor the posture change of the corresponding component.

4. The three-dimensional spatial posture real-time monitoring device of a hydraulic support according to claim 3 is characterized in that: The industrial control host is also used for: According to the size of each component of the hydraulic support, the mutual assembly relationship and the three-axis angle data in the component coordinate system output by a single attitude sensor, data fusion is performed, the component coordinate system is converted into the hydraulic support coordinate system, and the spatial attitude of the entire hydraulic support in the hydraulic support coordinate system is fitted.

5. The real-time monitoring device for the three-dimensional spatial posture of a hydraulic support according to claim 1 or 4, characterized in that: The posture sensor comprises: Accelerometer and gyroscope; The accelerometer is used to measure the acceleration of the component in three mutually perpendicular axes; The gyroscope is used to measure the rotation speed of the component around three mutually perpendicular axes; When the accelerometer and the gyroscope are installed on different components of the hydraulic support, the three-axis acceleration, angular velocity and angle information of the corresponding components in different motion states are collected in real time.

6. The three-dimensional spatial posture real-time monitoring device of a hydraulic support according to claim 1 is characterized in that: The data acquisition controller and the attitude sensor perform data exchange based on a serial communication method, and the data acquisition controller is also used for: A time synchronization instruction is sent to multiple attitude sensors, wherein the time synchronization instruction includes an instruction communication cycle, so that after receiving the time synchronization instruction, the multiple attitude sensors determine their respective timestamp starting points according to the instruction communication cycle, so as to synchronize the time between the multiple attitude sensors.

7. The device for real-time monitoring the three-dimensional posture of a hydraulic support according to claim 6 is characterized in that: The data acquisition controller is also used for: Receive the time synchronization instruction sent by the host computer, identify all data at the same time according to the timestamp of each attitude sensor, and send all data at the same time to the industrial control host according to the communication cycle.

8. The three-dimensional spatial posture real-time monitoring device of a hydraulic support according to claim 1 is characterized in that: The industrial control host and the data acquisition controller communicate with each other using Ethernet or CAN bus.

9. A method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support, characterized in that: The three-dimensional spatial posture real-time monitoring device for a hydraulic support according to any one of claims 1 to 8 comprises: Each attitude sensor determines its own timestamp starting point based on the received time synchronization command and communication cycle; The data acquisition controller collects the data of each attitude sensor at the same time according to the timestamp starting point of each attitude sensor, and sends the data at the same time to the industrial control host; The industrial control host fuses the data at the same time to generate the spatial posture data of the hydraulic support; The host computer receives and displays the spatial posture data of the hydraulic support in real time.

10. The method for real-time monitoring of the three-dimensional spatial posture of a hydraulic support according to claim 9, characterized in that: The industrial control host fuses the data at the same time to generate spatial posture data of the hydraulic support, including: According to the size of each component of the hydraulic support, the mutual assembly relationship and the three-axis angle data in the component coordinate system output by a single attitude sensor, data fusion is performed, the component coordinate system is converted into the hydraulic support coordinate system, and the spatial attitude of the entire hydraulic support in the hydraulic support coordinate system is fitted.

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