Hydraulic support attitude sensing method, device, equipment and medium

Abstract

The invention discloses a hydraulic support attitude sensing method, device and equipment and a medium, and relates to the technical field of hydraulic support regulation, and the method comprises the steps: obtaining the relative attitude angles of a top beam and a shield beam relative to a base under a target coordinate system, and obtaining the absolute attitude angles of the top beam, the shield beam and the base under a geographic coordinate system; fusing the relative attitude angle and the absolute attitude angle to obtain attitude angles of the top beam and the shield beam; according to the method, the absolute attitude angles of the top beam, the shield beam and the base are obtained by using a complementary filtering algorithm under the condition of reducing noise interference, and the relative attitude angles and the absolute attitude angles are fused by using extended Kalman filter (EKF), so that the drift error of the IMU technology during attitude sensing of the hydraulic support is offset, and the attitude sensing accuracy of the hydraulic support is improved. And accurate attitude angles of the top beam and the shield beam of the hydraulic support are obtained.

Description

Technical Field

[0001] The present invention relates to the technical field of hydraulic support control, and particularly relates to a method, device, equipment and medium for sensing the attitude of a hydraulic support. Background Art

[0002] A hydraulic support is a structure for controlling the mine pressure in a coal mining face. The mine pressure in the face acts on the hydraulic support in the form of external load. In the mechanical system of the interaction between the hydraulic support and the surrounding rock of the face, if the resultant force of each support member of the hydraulic support is exactly in the same straight line as the resultant force of the external load acting on the hydraulic support by the roof, then the hydraulic support is very suitable for the surrounding rock of this face.

[0003] As the main equipment for supporting the working face, the attitude of the hydraulic support is directly related to the safety, efficiency and stability of the working face production. At present, the attitude monitoring of the hydraulic support mainly adopts methods such as inertial navigation, optical fiber, vision, and contact. However, due to the complex underground environment, at present, the IMU technology is mainly used for the attitude sensing of the hydraulic support. Since the moving speed of the hydraulic support is slow, the IMU technology has a problem of large drift error in the attitude sensing of the hydraulic support. Summary of the Invention

[0004] Embodiments of the present invention provide a method, device, equipment and medium for sensing the attitude of a hydraulic support, which can solve the problem of large drift error existing in the current IMU technology in the attitude sensing of the hydraulic support in the prior art.

[0005] Embodiments of the present invention provide a method for sensing the attitude of a hydraulic support. The hydraulic support includes a base, a front connecting rod, a rear connecting rod, a shield beam, a column and a top beam. The shield beam and the top beam are hinged and a sharp angle is formed upward at the connection. The column is hinged between the bottom of the top beam and the top of the base. The front connecting rod and the rear connecting rod are both hinged between the shield beam and the base. The sensing method includes the following steps: Establish a geographic coordinate system with the center of the earth as the coordinate origin; establish a support coordinate system with the center of the front end of the hydraulic support base as the coordinate origin; fix an infrared target on the convex platform of the base of the hydraulic support to be detected, and establish a target coordinate system with the center of the infrared target as the coordinate origin; Through cameras installed on the top beam and the shield beam of the hydraulic support, respectively obtain the target image and the target coordinates of the marked points on the infrared target based on the target coordinate system; according to the target image and the target coordinates, use the BA-P4P algorithm to respectively obtain the relative attitude angles of the top beam and the shield beam relative to the base; Through inertial measurement units IMU installed on the top beam, the shield beam and the base of the hydraulic support, respectively obtain the angular velocity and linear acceleration of the top beam, the shield beam and the base of the hydraulic support; based on the geographic coordinate system, use an adaptive weighted complementary filter to fuse the angular velocity and the linear acceleration, and respectively obtain the absolute attitude angles of the top beam, the shield beam and the base. The relative attitude angles of the top beam and the shield beam with respect to the base, as well as the absolute attitude angles of the top beam, the shield beam and the base, are transformed to the support coordinate system through a coordinate transformation matrix; the extended Kalman filter (EKF) is used to fuse the relative attitude angles and the absolute attitude angles in the support coordinate system to obtain the attitude angles of the top beam and the shield beam of the hydraulic support.

[0006] Preferably, the establishment of the geographic coordinate system, the support coordinate system and the target coordinate system includes: Taking the center of the earth as the coordinate origin, the N axis points to the due north, the E axis is horizontal and points eastward, and the D axis forms a right-handed coordinate system with the other two axes to construct the geographic coordinate system; Taking the center of the front end of the support base as the origin, the X axis points to the front of the support, the Y axis points to the left of the support, and the Z axis points directly above the support to construct the support coordinate system; Taking the center of the infrared target as the coordinate origin, the X axis points to the front of the sign board, the Y axis points to the left of the sign board, and the Z axis points directly above the sign board to construct the target coordinate system.

[0007] Preferably, the obtaining of the relative attitude angles of the top beam and the shield beam with respect to the base includes: The cameras are respectively installed on the top beam and the shield beam of the hydraulic support, the infrared target is fixed on the convex platform of the base of the hydraulic support to be detected, and 4 LED marker points are arranged on the infrared target; Based on the target coordinate system, the target images of the infrared target and the target coordinates of the marker points on the infrared target are respectively obtained through the cameras installed on the top beam and the shield beam of the hydraulic support; According to the target images and the target coordinates, the camera pose estimation is carried out by using the BA-P4P algorithm, and the relative attitude angles of the top beam and the shield beam with respect to the base are respectively obtained.

[0008] Preferably, the obtaining of the absolute attitude angles of the top beam, the shield beam and the base includes: The inertial measurement unit (IMU) is respectively installed on the top beam, the shield beam and the base of the hydraulic support. The inertial measurement unit (IMU) includes a MEMS gyroscope and an accelerometer. The angular velocity and linear acceleration of the top beam, the shield beam and the base are respectively obtained through the MEMS gyroscope and the accelerometer; Based on the geographic coordinate system, an adaptive weighted complementary filter is designed, and the weighting factor α of the adaptive weighted complementary filter is dynamically adjusted according to the quality and stability of the current data. The value range of the weighting factor α is from 0 to 1. When the gyroscope data is relatively stable, the α value is close to 1; when the accelerometer data is relatively accurate, the value of 1-α is close to 1; The angular velocity and linear acceleration of the top beam, the shield beam and the base are respectively fused by using the adaptive weighted complementary filter to obtain the absolute attitude angles of the top beam, the shield beam and the base.

[0009] Preferably, obtaining the attitude angles of the top beam and the shield beam of the hydraulic support includes: Converting the relative attitude angles of the top beam and the shield beam with respect to the base obtained in the target coordinate system, and the absolute attitude angles of the top beam, the shield beam and the base obtained in the geographical coordinate system to the support coordinate system through a coordinate transformation matrix, to form the relative attitude angles of the top beam and the shield beam with respect to the base in the support coordinate system, and the absolute attitude angles of the top beam, the shield beam and the base in the support coordinate system; Using the Extended Kalman Filter (EKF) to fuse the relative attitude angles and the absolute attitude angles in the support coordinate system. During the fusion process, an adaptive weighting strategy is set to dynamically adjust the weighting factor of the Extended Kalman Filter (EKF) according to the characteristics and errors of the sensor data; Based on the real-time weighting factor and the complementarity of the relative attitude angle and the absolute attitude angle data, fusing the relative attitude angle and the absolute attitude angle by weighting to obtain the attitude angles of the top beam and the shield beam of the hydraulic support.

[0010] An embodiment of the present invention also provides a hydraulic support attitude sensing device, including: A position module, configured to establish a geographical coordinate system with the center of the earth as the coordinate origin; establish a support coordinate system with the center of the front end of the base of the hydraulic support as the coordinate origin; fix an infrared target on the convex platform of the base of the hydraulic support to be detected, and establish a target coordinate system with the center of the infrared target as the coordinate origin; An attitude calculation module, configured to respectively obtain the target image and the target coordinates of the landmark points on the infrared target based on the target coordinate system through cameras installed on the top beam and the shield beam of the hydraulic support; according to the target image and the target coordinates, respectively obtain the relative attitude angles of the top beam and the shield beam with respect to the base by using the BA-P4P algorithm; Respectively obtain the angular velocity and linear acceleration of the top beam, the shield beam and the base of the hydraulic support through inertial measurement units (IMUs) installed on the top beam, the shield beam and the base of the hydraulic support; based on the geographical coordinate system, fuse the angular velocity and the linear acceleration by using an adaptive weighted complementary filter to respectively obtain the absolute attitude angles of the top beam, the shield beam and the base; An attitude sensing module, configured to convert the relative attitude angles of the top beam and the shield beam with respect to the base, and the absolute attitude angles of the top beam, the shield beam and the base to the support coordinate system through a coordinate transformation matrix; use the Extended Kalman Filter (EKF) to fuse the relative attitude angles and the absolute attitude angles in the support coordinate system to obtain the attitude angles of the top beam and the shield beam of the hydraulic support.

[0011] An embodiment of the present invention also provides an electronic device, including a memory and a processor; The memory is used to store a computer program; When the processor executes the computer program stored in the memory, it implements the steps of a hydraulic support attitude perception method as described above.

[0012] An embodiment of the present invention also provides a computer-readable storage medium for storing a computer program, which implements the steps of a hydraulic support attitude perception method as described above when executed by a processor.

[0013] An embodiment of the present invention provides a hydraulic support attitude perception method, device, equipment and medium. Compared with the prior art, its beneficial effects are as follows: In the present invention, cameras are installed on the top beam and shield beam of the hydraulic support, and the BA-P4P algorithm is used to obtain the relative attitude angles of the top beam and shield beam relative to the base in the target coordinate system; inertial measurement units IMUs are installed on the top beam, shield beam and base of the hydraulic support, and the adaptive weighted complementary filter is used to obtain the absolute attitude angles of the top beam, shield beam and base in the geographic coordinate system; the extended Kalman filter EKF is used to fuse the relative attitude angles in the support coordinate system with the absolute attitude angles to obtain the attitude angles of the top beam and shield beam of the hydraulic support; in the present invention, the adaptive weighted complementary filter is used and the weighting factor is set and adjusted in real time according to the gyroscope, and the absolute attitude angles of the top beam, shield beam and base in the geographic coordinate system are obtained under the condition of reducing noise interference. At the same time, the extended Kalman filter EKF is used and the weighting factor is set and adjusted dynamically according to the sensor, and the relative attitude angles of the top beam and shield beam relative to the base in the target coordinate system are fused with the absolute attitude angles of the top beam, shield beam and base in the geographic coordinate system to offset the drift error of the IMU technology in the attitude perception of the hydraulic support and obtain accurate attitude angles of the top beam and shield beam of the hydraulic support. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of establishing three coordinate systems on a hydraulic support for a hydraulic support attitude perception method provided by an embodiment of the present invention; Figure 2 It is a schematic diagram of the calculation process of the displacement of the hydraulic support column / balance cylinder for a hydraulic support attitude perception method provided by an embodiment of the present invention; Figure 3 It is a schematic diagram of the setting of the hydraulic support equipment for a hydraulic support attitude perception method provided by an embodiment of the present invention; Figure 4 It is a schematic diagram of the simulation of the support attitude of a hydraulic support for a hydraulic support attitude perception method provided by an embodiment of the present invention; Figure 5 It is a schematic diagram of the estimation result of the pitch angle of the top beam of the hydraulic support in the attitude monitoring of the top beam of the support for a hydraulic support attitude perception method provided by an embodiment of the present invention; Figure 6 Schematic diagram of the absolute error of the pitch angle of the support top beam in the attitude monitoring of the support top beam for a hydraulic support attitude sensing method provided by an embodiment of the present invention; Figure 7 Schematic diagram of the estimated displacement monitoring of the support column in the comparative analysis of the displacement monitoring results of the support column for a hydraulic support attitude sensing method provided by an embodiment of the present invention; Figure 8 Schematic diagram of displacement error analysis in the comparative analysis of the displacement monitoring results of the support column for a hydraulic support attitude sensing method provided by an embodiment of the present invention. Detailed implementation manners

[0015] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following will describe the detailed implementation manners of the present invention in conjunction with the accompanying drawings. Many specific details are set forth in the following description to facilitate a thorough understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0016] See Figure 2 , an embodiment of the present invention provides a hydraulic support attitude sensing method, including the following steps: Step 1: Establish three coordinate systems, as Figure 1 shown, namely the geographic coordinate system (NED), the support coordinate system (a system), and the target coordinate system (b system).

[0017] 1. Geographic coordinate system (NED): Abbreviated as the n system, with the center of the earth as the coordinate origin, the N axis pointing due north, the E axis horizontally eastward, and the D axis forming a right-handed coordinate system with the other two axes.

[0018] 2. Support coordinate system (a system): With the center of the front end of the support base as the origin, the X(a) axis points to the front of the support, the Y(a) axis points to the left of the support, and the Z(a) axis points directly above the support; this coordinate system is a follow-up coordinate system, and the attitude angle difference ( , , ) between it and the geographic coordinate system (n system) is measured in real time by the IMU, representing the yaw angle, pitch angle, and roll angle of the support base respectively.

[0019] 3. Target coordinate system (b system), with the center of the infrared target as the coordinate origin, the X(b) axis points to the front of the sign board, the Y(b) axis points to the left of the sign board, and the Z(b) axis points directly above the sign board; this coordinate system is a follow-up coordinate system, and there is a constant attitude angle difference ( , , ), the angle difference is determined by the installation position of the target.

[0020] The IMU and camera are used to sense the attitude angle of the top beam of the bracket respectively; the IMU result is used as a reference to directly output the yaw angle of the top beam ( )、Pitch angle( ) and roll angle ( ), and the base attitude angle perceived by IMU can be converted to a system; the visual perception result takes b system as reference and can be converted to a system through coordinate transformation; the attitude angle measurement method of the shield beam is the same; through the establishment and conversion of the above coordinate systems, the accurate perception and measurement of the hydraulic support attitude can be realized, providing reliable data support for the support attitude control.

[0021] Step 2: Fix the infrared target on the boss of the hydraulic support base to be tested. There are 4 LED marking points on the target. The target image and target coordinates are obtained in real time through the cameras installed on the top beam and the cover beam. The camera pose is estimated through the BA-P4P algorithm to obtain the pose of the top beam and the cover beam relative to the base. The IMU is installed on the top beam, cover beam and base of the hydraulic support. The complementary filtering algorithm of the MEMS gyroscope and accelerometer is used to obtain its pose information. The EKF filtering method is used to fuse the support pose information perceived by vision and inertial navigation, and finally the precise pose angle of the support top beam and the cover beam is obtained. Then, the displacement of the column / balance cylinder can be calculated based on the motion model. The specific process is as follows: Figure 2 shown.

[0022] When using the adaptive complementary filtering algorithm to obtain the absolute attitude angle, an adaptive weighted complementary filter is designed based on the geographic coordinate system. The weighting factor α of the adaptive weighted complementary filter is dynamically adjusted according to the quality and stability of the current data. The weighting factor α ranges from 0 to 1. When the gyroscope data is relatively stable, the α value is close to 1; when the accelerometer data is relatively accurate, the 1-α value is close to 1.

[0023] The angular velocity and linear acceleration of the top beam, shielding beam and base are fused respectively by using adaptive weighted complementary filter to obtain the absolute attitude angles of the top beam, shielding beam and base.

[0024] Step 3: Establish a hydraulic support solution system, such as Figure 3As shown in the figure, it mainly consists of a hydraulic support, a camera, an infrared target, and a computer; the infrared target is rigidly connected and fixed to the convex platform of the support base, forming a fixed angle with the base to ensure that the target is always within the camera's field of view during the normal working stroke of the support; the camera is rigidly connected to the top beam / canopy beam, arranged on the top beam and the canopy beam, and faces the infrared target; the computer is used for image processing and attitude calculation; the system initializes the calibration of the target position, establishes the b coordinate system, and uses industrial cameras arranged on the canopy beam and the top beam to collect infrared target images in real time. Through the BA-PNP algorithm, feature extraction and attitude calculation are performed to obtain the attitude angles of the top beam and the canopy beam relative to the base; among them, it mainly involves the determination of the infrared target size, the target recognition method, and the design of the camera pose estimation algorithm.

[0025] The BA-PNP algorithm is the Bundle Adjustment with Perspective-n-Point algorithm, which includes the Bundle Adjustment method and the Perspective-n-Point problem; the Bundle Adjustment method is a method of improving the accuracy of camera pose estimation through nonlinear least squares optimization; the Perspective-n-Point problem is a method for solving the 3D to 2D point pair motion, aiming to estimate the camera pose when the coordinates of n 3D points and their 2D projection positions on the image are known; in the Perspective-n-Point problem, the Bundle Adjustment method improves the estimation of the camera pose by iteratively optimizing the reprojection error.

[0026] Step 4: Arrange IMUs on the top beam, canopy beam, and base for attitude perception of the hydraulic support; the IMUs on the top beam / canopy beam are installed at the same position as the camera and are parallel to the top beam / canopy beam. The IMU on the base is installed at the center of the base axis; the IMUs and the camera are connected to the computer system through the serial port, and data alignment is achieved through timestamp interpolation; its attitude simulation is as Figure 4 shown.

[0027] Step 5: Through coordinate transformation of the IMU data and visual data, map the attitude information from the n coordinate system and the b coordinate system to the a coordinate system respectively; through the transformation, both the IMU data and the visual data are in the support coordinate system (a coordinate system) to represent the relative attitude angles of the top beam or the canopy beam. Specifically, it includes:

[0028] The EKF is used to fuse the inertial navigation and visual data. The core of the system model is the nonlinear state transition equation and the nonlinear observation equation; the state vector of the system is unknown and is continuously updated according to the inertial navigation and visual data, which can be expressed as: .

[0029] Among them: , is the pitch angle and roll angle of the support roof beam relative to the base; is the gyroscope zero bias difference between the roof beam and the base IMU.

[0030] Use the relative attitude angle output by the dual IMU and the relative angle change amount same as that of vision as the observation value, and define the measurement vector as: .

[0031] Where: is the relative attitude angle (pitch angle, roll angle) output by the dual IMU; is the relative attitude angle change amount (pitch angle, roll angle) measured by the vision system at adjacent moments.

[0032] The state equation and observation equation of the EKF system are respectively: .

[0033] Where: f is the state transition Jacobian matrix; is the process noise vector, conforming to distribution; H is the observation Jacobian matrix; is the measurement noise vector, conforming to distribution.

[0034] Among them, the state transition Jacobian matrix f , expressed as F ; the observation Jacobian matrix H is expressed as: , .

[0035] The process noise covariance matrix Q is expressed as: Where: is the gyroscope angular velocity noise variance; is the random walk variance of the zero bias difference; is the sampling period.

[0036] The measurement noise covariance matrix R is expressed as: .

[0037] Where: is the IMU attitude angle measurement noise variance; is the vision angle change noise variance.

[0038] In the experiment, the support experienced 5 stages in sequence from the initial nearly horizontal state, namely static - lowering the support - static - raising the support - static, and a total of 4 cycles were carried out. At the same time, during the static stage, a high - precision inclinometer was used to determine the angle of the support's top beam, which was used as the true value for comparison. The experimental results are as Figure 5 and Figure 6 shown. It can be seen from Figure 5 that in the initial static state, the accuracies of all three sensing methods are relatively high. However, as the number of repetitions of the support increases, the sensing results of the IMU and the camera gradually deviate. During the operation of the support, the dynamic performances of all three sensing methods are good, and they can follow the movement of the support to monitor the pitch - angle information in real - time. It can be seen from Figure 6 that the RMSEs of the IMU, vision, and the method of the present invention are 0.190°, 0.201°, and 0.081° respectively. Among them, the absolute - error interval of vision is relatively stable, while the absolute error of the IMU fluctuates greatly. The method of the present invention can accurately reflect the current attitude information of the support.

[0039] A HY150 - 1500 type wire - drawing sensor was used to measure the real - time displacement of the column. At the same time, based on the support motion model, the inclinations of the top beam and the shield beam obtained by EKF fusion were used to analyze the column displacement. The results were compared and analyzed, and the obtained results are as Figure 7 and Figure 8 shown. It can be seen from Figure 7 that the RMSE of the column length based on the inverse solution of the support attitude is 13.682 mm. It can be seen from Figure 8 that due to the pin clearance of the support and the monitoring error of the support attitude, there is a certain error between the column length and the true value, but it can meet the requirements of on - site practice.

[0040] The above - described embodiments only represent several implementation manners of the present invention. The description is relatively specific and detailed, but it should not be construed as a limitation on the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent should be subject to the appended claims.

Claims

1. A method for attitude perception of a hydraulic support, the hydraulic support comprising a base, a front connecting rod, a rear connecting rod, a shield beam, a column and a top beam, the shield beam and the top beam being hinged and a sharp angle being formed upward at the joint, the column being hinged between the bottom of the top beam and the top of the base, and the front connecting rod and the rear connecting rod both being hinged between the shield beam and the base, characterized in that, The sensing method includes the following steps: Establish a geographic coordinate system with the center of the earth as the coordinate origin; establish a support coordinate system with the center of the front end of the hydraulic support base as the coordinate origin; fix an infrared target on the convex platform of the base of the hydraulic support to be detected, and establish a target coordinate system with the center of the infrared target as the coordinate origin; Through cameras installed on the top beam and the shield beam of the hydraulic support, respectively obtain the target image of the target and the target coordinates of the marking points on the infrared target based on the target coordinate system; according to the target image and the target coordinates, use the BA-P4P algorithm to respectively obtain the relative attitude angles of the top beam and the shield beam with respect to the base; Through inertial measurement units IMU installed on the top beam, the shield beam and the base of the hydraulic support, respectively obtain the angular velocity and linear acceleration of the top beam, the shield beam and the base of the hydraulic support; based on the geographic coordinate system, use an adaptive weighted complementary filter to fuse the angular velocity and linear acceleration, and respectively obtain the absolute attitude angles of the top beam, the shield beam and the base; Convert the relative attitude angles of the top beam and the shield beam with respect to the base, and the absolute attitude angles of the top beam, the shield beam and the base to the support coordinate system through a coordinate transformation matrix; use the extended Kalman filter EKF to fuse the relative attitude angles and the absolute attitude angles in the support coordinate system to obtain the attitude angles of the top beam and the shield beam of the hydraulic support.

2. The attitude perception method of a hydraulic support according to claim 1, characterized in that The establishment of the geographic coordinate system, the support coordinate system and the target coordinate system includes: Taking the center of the earth as the coordinate origin, the N axis points to the due north, the E axis is horizontal and points eastward, and the D axis forms a right-handed coordinate system with the other two axes to construct a geographic coordinate system; Taking the center of the front end of the support base as the origin, the X axis points to the front of the support, the Y axis points to the left of the support, and the Z axis points vertically above the support to construct a support coordinate system; Taking the center of the infrared target as the coordinate origin, the X axis points to the front of the sign board, the Y axis points to the left of the sign board, and the Z axis points vertically above the sign board to construct a target coordinate system.

3. The attitude perception method of a hydraulic support according to claim 2, wherein The obtaining of the relative attitude angles of the top beam and the shield beam with respect to the base includes: Install cameras on the top beam and the shield beam of the hydraulic support respectively, fix the infrared target on the convex platform of the base of the hydraulic support to be detected, and there are 4 LED marking points on the infrared target; Based on the target coordinate system, through the cameras installed on the top beam and the shield beam of the hydraulic support, respectively obtain the target image of the infrared target and the target coordinates of the marking points on the infrared target; According to the target image and the target coordinates, use the BA-P4P algorithm for camera pose estimation to respectively obtain the relative attitude angles of the top beam and the shield beam with respect to the base.

4. The attitude perception method of a hydraulic support according to claim 3, characterized in that, The obtaining of the absolute attitude angles of the top beam, the shield beam and the base includes: Install inertial measurement units IMU on the top beam, the shield beam and the base of the hydraulic support respectively. The inertial measurement unit IMU includes a MEMS gyroscope and an accelerometer, and respectively obtain the angular velocity and linear acceleration of the top beam, the shield beam and the base through the MEMS gyroscope and the accelerometer; Based on the geographic coordinate system, design an adaptive weighted complementary filter, dynamically adjust the weighting factor α of the adaptive weighted complementary filter according to the quality and stability of the current data. The value range of the weighting factor α is from 0 to 1. When the gyroscope data is relatively stable, the α value is close to 1; when the accelerometer data is relatively accurate, the value of 1-α is close to 1; The angular velocity and linear acceleration of the top beam, shield beam, and base are fused using an adaptive weighted complementary filter to obtain the absolute attitude angles of the top beam, shield beam, and base respectively.

5. A method for attitude perception of a hydraulic support according to claim 4, characterized in that, The obtaining of the attitude angles of the top beam and shield beam of the hydraulic support includes: The relative attitude angles of the top beam and shield beam with respect to the base obtained in the target coordinate system, and the absolute attitude angles of the top beam, shield beam, and base obtained in the geographical coordinate system are transformed to the support coordinate system through a coordinate transformation matrix, forming the relative attitude angles of the top beam and shield beam with respect to the base in the support coordinate system, and the absolute attitude angles of the top beam, shield beam, and base in the support coordinate system; The extended Kalman filter (EKF) is used to fuse the relative attitude angles and absolute attitude angles in the support coordinate system. During the fusion process, an adaptive weighting strategy is set to dynamically adjust the weighting factor of the extended Kalman filter (EKF) according to the characteristics and errors of the sensor data; Based on the real-time weighting factor and the complementarity of the relative attitude angle and absolute attitude angle data, the relative attitude angle and absolute attitude angle are fused by weighting to obtain the attitude angles of the top beam and shield beam of the hydraulic support.

6. A hydraulic support attitude sensing device, characterized in that, It includes: A position module for establishing a geographical coordinate system with the center of the earth as the coordinate origin; establishing a support coordinate system with the center of the front end of the base of the hydraulic support as the coordinate origin; Fixing an infrared target on the convex platform of the base of the hydraulic support to be detected, and establishing a target coordinate system with the center of the infrared target as the coordinate origin; An attitude calculation module for respectively obtaining the target images and the target coordinates of the marked points on the infrared target based on the target coordinate system through cameras installed on the top beam and shield beam of the hydraulic support; using the BA-P4P algorithm to respectively obtain the relative attitude angles of the top beam and shield beam with respect to the base according to the target images and target coordinates; Through inertial measurement units (IMUs) installed on the top beam, shield beam, and base of the hydraulic support, respectively obtain the angular velocity and linear acceleration of the top beam, shield beam, and base of the hydraulic support; Based on the geographical coordinate system, the angular velocity and linear acceleration are fused using an adaptive weighted complementary filter to obtain the absolute attitude angles of the top beam, shield beam, and base respectively; An attitude perception module for transforming the relative attitude angles of the top beam and shield beam with respect to the base, and the absolute attitude angles of the top beam, shield beam, and base to the support coordinate system through a coordinate transformation matrix; Using the extended Kalman filter (EKF) to fuse the relative attitude angles and absolute attitude angles in the support coordinate system to obtain the attitude angles of the top beam and shield beam of the hydraulic support.

7. An electronic device, characterized in that, It includes: A memory and a processor; The memory is used to store computer programs; When the processor executes the computer programs stored in the memory, it realizes the steps of a method for perceiving the attitude of a hydraulic support as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, For storing computer programs, when the computer programs are executed by a processor, they realize the steps of a method for perceiving the attitude of a hydraulic support as described in any one of claims 1 to 5.

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