Duplex alternate self-moving hydraulic support for coal mine tunnel support

Abstract

The invention belongs to the field of hydraulic supports, and particularly relates to a duplex alternate self-moving hydraulic support for coal mine tunnel supporting, which comprises a front hydraulic support and a rear hydraulic support, an outer connecting beam is arranged between the front hydraulic support and the rear hydraulic support, and an inner connecting beam is arranged on the outer side of the front hydraulic support. A support moving jack is arranged between the front hydraulic support and the rear hydraulic support. The device is formed by connecting the front hydraulic supports and the rear hydraulic supports in series, the front supports and the rear supports are completely consistent in structure, the two stand columns are adopted for supporting the top beam and the base, the structure is simple, the space size is small, and the device adapts to rectangular and trapezoidal roadway section shapes; and meanwhile, stretching and retracting of the telescopic jack and the support moving jack are operated, so that alternate automatic forward movement and overall longitudinal movement of the front hydraulic support and the rear hydraulic support are achieved, and the automation degree is high.

Description

Technical Field

[0001] The invention belongs to the field of hydraulic supports, and in particular relates to a double-connected alternating self-moving hydraulic support for supporting coal mine tunnels. Background Art

[0002] At present, the domestically mature and widely used tunnel support hydraulic supports mainly include two structural types: two-row alternating stepping self-moving hydraulic supports and front and rear overall sequential self-moving hydraulic supports. Among them, the two-row alternating stepping self-moving hydraulic supports, as a modern support equipment, have the advantages of high support strength, simple operation and good safety.

[0003] However, the hydraulic supports need to move forward as a whole in groups, with each movement being a pushing step. All hydraulic supports must complete a complete cycle of lowering the frame, moving the frame, and lifting the frame. Each row of hydraulic supports is generally composed of 4 or 5 groups of hydraulic supports in series. The overall size is relatively long, and the overall high-frequency repeated support of the roof can easily cause serious damage to the tunnel roof and anchor net support system, causing roof leakage and roof collapse accidents. In addition, due to the support principle and structural limitations of the two rows of alternating stepping hydraulic supports, when the tunnel support strength requirements are high, increasing the number of columns and cylinder diameters will inevitably result in an increase in the size of the support structure and the initial support force, thereby bringing about a series of adverse effects such as higher frequency, greater repeated support force and greater resistance to moving the frame.

[0004] Therefore, two rows of alternating step-type hydraulic supports are no longer feasible in tunnels with a wide mining impact range, severe roof and floor crushing, and high pressure. Summary of the Invention

[0005] The purpose of the present invention is to provide a double-linked alternating self-moving hydraulic support for supporting coal mine tunnels, which solves the problem that the existing hydraulic supports cannot provide effective support for the tunnels.

[0006] In order to achieve the above-mentioned purpose, the present invention provides a double-linked alternating self-moving hydraulic support for coal mine tunnel support, comprising a front hydraulic support and a rear hydraulic support, an outer connecting beam is arranged between the front hydraulic support and the rear hydraulic support, an inner connecting beam is arranged on the outside of the front hydraulic support, a frame shifting jack is arranged between the front hydraulic support and the rear hydraulic support, the structures of the front hydraulic support and the rear hydraulic support are consistent, the front hydraulic support and the rear hydraulic support both comprise a top beam, a base and a side support plate, two symmetrically distributed columns are installed on the upper end of the base, the upper ends of the columns are installed with a top beam, the outside of the base is installed with a side support plate, a clamp is provided on the outside of the column, and the inside of the top beam is slidably connected with a pin shaft 1.

[0007] The principle of the present invention is that when in use, the top beam above the front hydraulic support is controlled to descend through the hydraulic system, and then the telescopic jack is started to extend at the same time, and the frame moving jack is controlled to be retracted at the same time. The two jacks cooperate with each other to drive the front hydraulic support to move, thereby alternately controlling one group of supports to lower their height and the other group to hold the top plate tightly, and simultaneously operating the telescopic jack and the frame moving jack to extend and retract, thereby realizing the alternating automatic forward movement and overall longitudinal movement of the front and rear hydraulic supports, and having a high degree of automation.

[0008] The beneficial effects of the present invention are as follows: the present invention adopts a group of front hydraulic supports and a group of rear hydraulic supports in series, the front and rear support structures are completely consistent, and two columns are used to support the top beam and the base. The structure is simple and the space size is compact, which is adaptable to the cross-sectional shapes of rectangular and trapezoidal tunnels. By alternately controlling the height of one group of supports to be lowered and the other group to hold the top plate tightly, and at the same time operating the extension and retraction of the telescopic jack and the frame shifting jack, the alternating automatic forward movement and overall longitudinal movement of the front and rear hydraulic supports are realized, which has a high degree of automation.

[0009] Furthermore, a telescopic jack is provided on the outer connecting beam, and the telescopic jack is hinged to the inner connecting beam. The outer connecting beam and the inner connecting beam adopt a rectangular cross-section structure design. During the alternating automatic forward movement and overall longitudinal movement, they have guiding, anti-deflection and anti-falling functions, ensuring the stability of the bracket and safety during use.

[0010] Furthermore, a side support jack is installed on the outer side of the column, and the side support jack is hinged to the side support plate, and the side support plate can be deflected by 90 degrees.

[0011] Furthermore, a pin shaft three is slidably connected inside the column, the pin shaft three is hinged to the top beam, a pressure block is provided on the top beam, and the column, top beam and base are all spherically matched.

[0012] Furthermore, a connector is installed on the outer side of the base, and a pin shaft six is ​​slidably connected inside the connector, and the pin shaft six is ​​hinged to the moving frame jack. The connector can connect the base and the moving frame jack.

[0013] Furthermore, the inside of the side support plate is slidably connected with a pin shaft four, and the pin shaft four is hinged to the base, and the pin shaft four can connect the base and the side support plate.

[0014] Furthermore, a pressure plate is provided inside the base, and a pin shaft five is provided inside the pressure plate. The column can be connected to the base through the pressure plate and the pin shaft five.

[0015] Furthermore, an alternating control valve is provided between the telescopic jack and the supporting jack.

[0016] The present invention has the following beneficial effects: It offers strong support capabilities. Compared to dense support using conventional single hydraulic props, a single set of double alternating self-moving hydraulic supports can replace 20 densely packed conventional single hydraulic props, increasing the initial support force on the roof from 1800 kN to 6180 kN. This increases the initial support force within the same roof management area by over 240%, effectively controlling roof subsidence and providing strong support capabilities. This increased initial support force reduces the amount of equipment, improves support movement efficiency, ensures the quality of roadway roof management, and enhances the safety of personnel and equipment.

[0017] The present invention significantly reduces the weight of the hydraulic support, which is only 20% to 25% of the traditional two-row tunnel hydraulic support, greatly reduces the workload of the support moving, improves the working environment of employees, and plays an important role in ensuring safe production and high yield and efficiency.

[0018] The present invention designs a combined operation type of the main frame operation and the adjacent frame operation. The columns and side support jacks of the front and rear hydraulic supports themselves are controlled by the main frame operation mode, and the moving frame jacks and the telescopic jacks are controlled by the adjacent frame mode. By setting the control of the alternating control valve, the front hydraulic support and the rear hydraulic support can both operate the moving frame jack and the telescopic jack, and ensure that they cannot be operated at the same time. This not only realizes the adjacent frame operation, but also avoids the misoperation (avoiding the hidden danger of untimely evacuation of personnel), and realizes inherently safe operation.

[0019] The present invention has good adaptability to tunnel conditions, high reliability, strong adaptability, can provide strong equipment guarantee for safe production in coal mines, conforms to the development trend of tunnel hydraulic supports and has obvious advancement.

[0020] Furthermore, the alternating control valve includes a first two-position three-way solenoid valve and a second two-position three-way solenoid valve, the oil inlet of the first two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the oil outlet is respectively connected to the control oil circuits of the moving frame jack and the telescopic jack of the front hydraulic support, and the oil return port is connected to the oil tank; the oil inlet of the second two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the oil outlet is respectively connected to the control oil circuits of the moving frame jack and the telescopic jack of the rear hydraulic support, and the oil return port is connected to the oil tank; the first two-position three-way solenoid valve and the second two-position three-way solenoid valve are connected through an interlocking circuit, when the first two-position three-way solenoid valve is energized, the second two-position three-way solenoid valve is de-energized, and vice versa.

[0021] Furthermore, it also includes a control module and a safety solenoid valve, wherein the safety solenoid valve is installed on the oil line of the alternating control valve; an infrared thermal imaging sensor and a millimeter-wave radar sensor are respectively provided under the front hydraulic support and the rear hydraulic support, for jointly detecting whether there are workers under the support and the working status of the workers; a pressure sensor is respectively provided above the top beams of the front hydraulic support and the rear hydraulic support, for real-time collection of support force data and transmission to the controller;

[0022] The control module is electrically connected to the safety solenoid valve, the infrared thermal imaging sensor, the millimeter wave radar sensor and the pressure sensor respectively.

[0023] The control module establishes an early warning model that correlates personnel work status with support force data as follows:

[0024] E′=E×(1+k·S)

[0025] in:

[0026] E′ is the revised safety warning index, and E is the original safety warning index, which is the initial preset value;

[0027] k is the working status influence coefficient, which is set according to the personnel operation type:

[0028] Static operation: k = 0.1;

[0029] Dynamic operation: k = 0.3;

[0030] Equipment installation: k = 0.5;

[0031] S is the personnel work intensity index, which is obtained by analyzing the micro-motion signal spectrum of the millimeter-wave radar and has a value range of 0 to 1;

[0032] The control module is used to identify the presence of people through infrared thermal imaging sensors, and then analyze the frequency of people's movements through the micro-Doppler effect of millimeter-wave radar to jointly determine the type of operation;

[0033] When the support force fluctuates during equipment installation, the control module uses an LSTM neural network trained using historical data to distinguish between normal fluctuations caused by the work and abnormal fluctuations caused by roof hazards.

[0034] Normal fluctuation characteristics: Fluctuation range ≤ 10%F avg , and the duration is ≤5 minutes;

[0035] Abnormal fluctuation characteristics: Fluctuation amplitude>15%F avg , or with the acceleration of the supporting force change

[0036] When human operation is detected, the warning threshold is adjusted according to the following rules:

[0037] Static operation: Level 1 threshold E th1 Increase by 10%;

[0038] Dynamic operation: Level 1 threshold E th1 Increase by 20%, secondary threshold E th2 remain unchanged;

[0039] Equipment installation: Level 1 threshold E th1 Remain unchanged, the secondary threshold E th2 15% reduction;

[0040] The control module is further configured to:

[0041] When personnel are in static operation, the safety solenoid valve allows the rack moving speed to be 80% of the normal speed;

[0042] When personnel are in dynamic operation, the safety solenoid valve will limit the rack moving speed to 50% of the normal speed, and start the sound and light prompt "operation in progress, rack moving speed limited";

[0043] When E′ calculated by the associated warning model ≥ E th2 When the machine is in emergency, no matter what the working status of the personnel is, the solenoid valve immediately closes the hydraulic circuit and sends an emergency stop signal to the tunnel monitoring system. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 This is a schematic structural diagram of a double-linked alternating self-moving hydraulic support for coal mine tunnel support according to an embodiment of the present invention;

[0045] Figure 2 The invention relates to a double-linked alternating self-moving hydraulic support for coal mine tunnel support. Figure 1 Schematic diagram of the front hydraulic support;

[0046] Figure 3 The invention relates to a double-linked alternating self-moving hydraulic support for coal mine tunnel support. Figure 2 Schematic diagram of the top beam;

[0047] Figure 4 The invention relates to a double-linked alternating self-moving hydraulic support for coal mine tunnel support. Figure 2 Schematic diagram of the base;

[0048] Figure 5 The invention relates to a double-linked alternating self-moving hydraulic support for coal mine tunnel support. Figure 2 Schematic diagram of the column.

[0049] The reference numerals in the drawings of the specification include:

[0050] 1. Front hydraulic support; 2. Rear hydraulic support; 3. External connecting beam; 4. Internal connecting beam; 5. Telescopic jack; 6. Frame shifting jack; 11. Top beam; 12. Base; 13. Side support plate; 14. Column; 15. Side support jack; 16. Connector; 17. Pin one; 18. Pressure block; 19. Pin three; 111. Pin four; 113. Clamp; 114. Pressure plate; 115. Pin five; 117. Pin six. DETAILED DESCRIPTION

[0051] The following is further described in detail through specific implementation methods:

[0052] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, this embodiment provides a double-linked alternating self-moving hydraulic support for coal mine tunnel support, including a front hydraulic support 1 and a rear hydraulic support 2, an outer connecting beam 3 is arranged between the front hydraulic support 1 and the rear hydraulic support 2, an inner connecting beam 4 is arranged on the outside of the front hydraulic support 1, a frame shifting jack 6 is arranged between the front hydraulic support 1 and the rear hydraulic support 2, the front hydraulic support 1 has the same structure as the rear hydraulic support 2, the front hydraulic support 1 and the rear hydraulic support 2 both include a top beam 11, a base 12 and a side support plate 13, two symmetrically distributed columns 14 are installed on the upper end of the base 12, the upper end of the column 14 is installed with a top beam 11, the outside of the base 12 is installed with a side support plate 13, the outside of the column 14 is provided with a clamp 113, and the inside of the top beam 11 is slidably connected with a pin shaft 17.

[0053] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5 As shown, a telescopic jack 5 is provided on the outer connecting beam 3, and the telescopic jack 5 is hinged to the inner connecting beam 4. The outer connecting beam 3 and the inner connecting beam 4 adopt a rectangular cross-section structure design. In the process of alternating automatic forward movement and overall longitudinal movement, they have guiding, anti-deflection and anti-falling functions, thereby ensuring the stability of the bracket and safety during use. A side support jack 15 is installed on the outside of the column 14, and the side support jack 15 is hinged to the side support plate 13. The side support plate 13 can be deflected 90°. The internal sliding connection of the column 14 is connected with a pin shaft three 19, and the pin shaft three 19 is hinged to the top beam 11. A pressure block 18 is provided on the top beam 11. The column 14, the top beam 11 and the base 12 all adopt spherical fit.

[0054] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 5As shown, a connector 16 is installed on the outside of the base 12, and a pin 6 117 is slidably connected inside the connector 16. The pin 6 117 is hinged to the frame shifting jack 6, and the connector 16 can connect the base 12 and the frame shifting jack 6. A pin 4 111 is slidably connected inside the side support plate 13. The pin 4 111 is hinged to the base 12, and the pin 4 111 can connect the base 12 and the side support plate 13. A pressure plate 114 is provided inside the base 12, and a pin 5 115 is provided inside the pressure plate 114. The column 14 can be connected to the base 12 through the pressure plate 114 and the pin 5 115.

[0055] The specific implementation process of the present invention is as follows: when in use, the top beam 11 above the front hydraulic support 1 is controlled to descend through the hydraulic system, and then the telescopic jack 5 is started to extend at the same time, and the frame shifting jack 6 is controlled to be retracted. The two jacks cooperate with each other to drive the front hydraulic support 1 to move, thereby alternately controlling one group of support heights to be lowered and the other group to hold the top plate tightly, and simultaneously operating the telescopic jack 5 and the frame shifting jack 6 to extend and retract, thereby realizing the alternating automatic forward movement and overall longitudinal movement of the front and rear hydraulic supports, with a high degree of automation.

[0056] The present invention is composed of a group of front hydraulic supports 1 and a group of rear hydraulic supports 2 connected in series. The front and rear support structures are completely consistent. Two columns 14 are used to support the top beam 11 and the base 12. The structure is simple and the space size is compact. It is adaptable to the cross-sectional shapes of rectangular and trapezoidal tunnels. By alternately controlling the height of one group of supports to be lowered and the other group to hold the top plate tightly, and simultaneously operating the extension and retraction of the telescopic jack 5 and the frame shifting jack 6, the alternating automatic forward movement and overall longitudinal movement of the front and rear hydraulic supports are realized, and a high degree of automation is achieved.

[0057] In another embodiment, the oil inlet of the first two-position three-way solenoid valve (not marked with a reference numeral, which can be integrated into the base 12 of the front hydraulic support 1) is connected to the main oil circuit of the hydraulic system (not shown) through a high-pressure oil pipe, and the oil outlet is connected to the control oil circuits of the moving frame jack 6 and the telescopic jack 5 of the front hydraulic support 1 through branch oil circuits, and the oil return port is connected to the oil tank (not shown) through a low-pressure oil pipe.

[0058] The oil inlet of the second two-position three-way solenoid valve (integrated inside the base 12 of the rear hydraulic support 2) is connected to the main oil circuit, the oil outlet is respectively connected to the control oil circuits of the shifting jack 6 and the telescopic jack 5 of the rear hydraulic support 2, and the oil return port is connected to the oil tank.

[0059] An interlock circuit (not shown) is implemented using a relay module (installed in the electrical control box of the base 12). The coils of the first and second solenoid valves are interlocked via normally closed contacts. For example, when the first solenoid valve is energized, its normally closed contacts open, cutting off the power supply circuit to the second solenoid valve, and vice versa.

[0060] The control circuit energizes the first two-position three-way solenoid valve, and the valve core switches to the oil inlet state. The hydraulic oil passes through the main oil circuit → the oil outlet of the first solenoid valve → the front bracket's shifting jack 6 (retracted) and the telescopic jack 5 (extended), pushing the front hydraulic support 1 forward; at this time, the second solenoid valve is de-energized due to the interlocking circuit, and the jack of the rear bracket remains stationary.

[0061] The first solenoid valve is powered off, the second solenoid valve is powered on, the hydraulic oil flows to the rear support's shifting jack 6 and telescopic jack 5, the rear hydraulic support 2 moves forward, and the front support remains in a supporting state.

[0062] In another embodiment, an infrared thermal imaging sensor is installed on both sides below the base 12 of the front hydraulic support 1 and the rear hydraulic support 2 (near the side support plate 13), the model is FLIR A315, the detection angle covers an area of ​​2m×3m below the support, and is connected to a control module (installed in an electrical control box of the base 12, not marked with a figure mark) via a data cable.

[0063] The millimeter-wave radar sensor is fixed above the front connector 16 of the base 12. It is a TI IWR1642 model with a detection frequency of 77GHz. It communicates with the control module via an SPI interface and is used to capture the micro-movement signals of personnel. The pressure sensor is embedded in the top plate of the top beam 11 (near the position of the column 14). It is a HBM U2B model with a range of 0-10000kN. It transmits the support force data to the control module via a cable. The safety solenoid valve is connected in series with the oil circuit of the alternating control valve and the jack, and is installed on the hydraulic pipeline integrated block (not shown) of the base 12. It is a Rexroth 4WE6D62 / EW230N9K4 model. The opening is controlled by the control module through a PWM signal.

[0064] For example, a worker installing equipment beneath a support bracket. The infrared thermal imaging sensor detects a 37°C heat source (the worker's body temperature) and determines the presence of a worker. The millimeter-wave radar analyzes micro-motion signals, detecting periodic vibrations of 1-3 Hz (the tool's striking frequency). Combined with the motion amplitude (changes in radar echo intensity), the worker's work intensity index (S) is calculated to be 0.7.

[0065] The operation type is determined to be "equipment installation", and the working status influence coefficient k is taken as 0.5. The corrected warning index is:

[0066] E'=E×(1+0.5×0.7)=1.35E

[0067] When workers are working, they may need to temporarily unload the local support force. The pressure sensor detects that the support force drops from 6000kN to 5400kN (fluctuation range of 10%) and recovers after 3 minutes.

[0068] The control module identifies it as "normal fluctuation" through the LSTM neural network (the training data includes 1000 sets of historical operation data) and does not trigger an early warning; the early warning threshold is adjusted: the secondary threshold E th2 Reduce by 15% (e.g. from 50 to 42.5) to increase the sensitivity to hidden dangers.

[0069] When cracks appear on the top plate, the support force drops from 6000kN to 4800kN (fluctuation range 20%) within 2 minutes, and the acceleration At this time, E′=80, which exceeds the reduced E th2 =42.5;

[0070] The control module sends a signal to the safety solenoid valve to immediately close the hydraulic path and simultaneously activate the sound and light alarm (an alarm installed at the front end of the top beam 11).

[0071] When a person stands and observes the status of the rack, the infrared and radar detection is "static operation", k = 0.1, S = 0.2. The safety solenoid valve limits the rack moving speed to 80% of the normal speed (0.5m / min), that is, 0.4m / min; the first threshold E th1 Improved from 0.6 to 0.66 to reduce false alarms.

[0072] When a person is tightening a bolt with a handheld wrench, it is considered a "dynamic operation", k = 0.3, S = 0.5. The safety solenoid valve reduces the moving speed to 0.25m / min and issues a voice prompt through the speaker installed on the base 12; if the support force fluctuation reaches 12% F at this time avg , because the first-level threshold is raised to 0.72, the system does not trigger an early warning (the original threshold of 0.6 may have caused a misjudgment).

[0073] 1,000 sets of historical support force fluctuation data were collected on-site in the coal mine tunnels, such as normal fluctuation data (700 sets): from operating scenarios such as equipment installation and maintenance, such as changes in support force during operations such as replacing the side support jack 15 and adjusting the angle of the top beam 11; abnormal fluctuation data (300 sets): from hidden danger scenarios such as partial collapse of the roof and expansion of cracks, which are recorded in real time by the pressure sensor 11.

[0074] Extract the following features from each set of data as LSTM input: support force change rate Fluctuation duration t (min); current value of support force F current Compared with the historical average F avg Deviation percentage; support force change acceleration Personnel job type code (0=static, 1=dynamic, 2=equipment installation).

[0075] A two-layer LSTM network (128 neurons per layer) plus a fully connected layer (output dimension 1, sigmoid activation function) was used. Specific parameters included: input sequence length: 100 time steps (corresponding to 1 second of data at 100Hz sampling frequency); loss function: binary cross entropy; optimizer: Adam (learning rate 0.001). The trained model was written to the chip in the control module (installed in the electrical control box on base 12) via a firmware upgrade.

[0076] In other embodiments, the joint recognition logic of the control module, infrared thermal imaging sensor, and millimeter wave radar is as follows:

[0077] The control module is used to synchronously collect infrared thermal imaging (25fps) and millimeter-wave radar (100Hz) data, establishing a timestamp alignment mechanism (error ≤ 10ms). It extracts infrared temperature change signatures and radar micro-motion signatures, generating preliminary operation type probabilities (P1 / P2) and confidence levels (C1 / C2). Data inter-calibration is performed. If there is a conflict in signatures, a historical search is initiated; if there is a match, the decision-making process proceeds directly. Based on a historical case library, the similarity between the current signature and historical data is calculated to refine the judgment.

[0078] When the infrared detects a sudden temperature change (ΔT>0.1°C / frame) but the radar does not detect a micro-motion frequency, it is determined to be a "low-amplitude motion" and the radar feature confidence level C2 is multiplied by the correction factor k1 = 0.7 (e.g., a person slowly moving a tool). If the radar detects a typical operating frequency (e.g., tapping 1.5Hz) but the infrared edge changes are not obvious, it is determined to be an "occluded scene" and the infrared feature confidence level C1 is multiplied by k2 = 0.5 (e.g., a person working behind a support).

[0079] Historical data includes several sets of manually annotated valid data from the past. Multi-dimensional indexes are established for features such as infrared edge complexity, temperature change rate, and radar frequency components to support fast retrieval.

[0080] In the similarity calculation model, the feature vector is expressed as follows: infrared feature: I = [E edge ,T var ,A move ]; Radar signature: R = [f1, f2, A1, A2]. Similarity formula:

[0081]

[0082] Where d is the Euclidean distance, w1=0.6, w2=0.4 are weight coefficients.

[0083] When the cross-validation layer outputs a conflict marker, the current feature vector (I, R) is extracted and the top 10 similarity cases in the history library are retrieved.

[0084] Sort by similarity, and vote on the job types of the first three cases by weight (Sim / ΣSim), such as:

[0085] Case 1 (Sim = 0.9, equipment installation) → weight 0.5; Case 2 (Sim = 0.8, dynamic operation) → weight 0.4; Case 3 (Sim = 0.7, equipment installation) → weight 0.1; the final judgment is "equipment installation" (0.5 + 0.1 = 0.6 > 0.4). After every 100 conflict judgments, historical cases with a similarity < 0.5 are eliminated and new cases are added to maintain the library capacity.

[0086] For example, in an actual scenario, if a person is working dynamically behind the bracket (infrared shielding), the infrared sensor will only detect the local temperature change (T var =0.06), edge complexity E edge =1.2, preliminarily determined as "static operation" (confidence level C1 = 0.7). The millimeter-wave radar detected a knocking frequency of 2.3 Hz (main frequency), and determined it to be "dynamic operation" (confidence level C2 = 0.9).

[0087] At this point, the control module identifies a conflicting result (static vs. dynamic) and triggers radar-to-infrared correction. Because radar confidence C2 > 0.8, infrared confidence C1 is reduced to 0.7 × 0.3 = 0.21, and a conflict flag is output for cross-validation.

[0088] The control module searches historical cases and finds historical cases with similar characteristics:

[0089] Case A: Infrared edge complexity 1.1, radar frequency 2.1Hz → dynamic operation (Sim = 0.85)

[0090] Case B: Infrared temperature change 0.07, radar frequency 2.5Hz → dynamic operation (Sim=0.82)

[0091] Case C: Infrared edge complexity 1.3, radar frequency 2.2Hz → dynamic operation (Sim = 0.78)

[0092] Then a weighted vote is conducted. At this time, the dynamic operation weight = 0.85 + 0.82 + 0.78 = 2.45. There are no other types of cases, and the final judgment is "dynamic operation".

[0093] Therefore, the safety solenoid valve limits the rack moving speed to 50% of the normal speed and activates the sound and light prompts to avoid misjudgment caused by infrared obstruction.

[0094] It should be noted in advance that, in the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; they may refer to direct connection, indirect connection through an intermediate medium, or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0095] The above is only an embodiment of the present invention, and the common knowledge such as the specific structure and characteristics of the scheme is not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A double-linked alternating self-moving hydraulic support for coal mine tunnel support, comprising a front hydraulic support and a rear hydraulic support, characterized in that: An outer connecting beam is provided between the front hydraulic support and the rear hydraulic support, an inner connecting beam is provided on the outer side of the front hydraulic support, a frame shifting jack is provided between the front hydraulic support and the rear hydraulic support, the structure of the front hydraulic support is consistent with that of the rear hydraulic support, the front hydraulic support and the rear hydraulic support both include a top beam, a base and a side support plate, two symmetrically distributed columns are installed on the upper end of the base, the upper end of the column is installed with a top beam, a side support plate is installed on the outer side of the base, a clamp is provided on the outer side of the column, and a pin shaft 1 is slidably connected to the inside of the top beam.

2. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 1 is characterized in that: A telescopic jack is provided on the outer connecting beam, and the telescopic jack is hinged to the inner connecting beam.

3. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 1 is characterized in that: A side support jack is installed on the outer side of the column, and the side support jack is hinged to the side support plate.

4. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 1 is characterized in that: A pin shaft three is slidably connected inside the column, and the pin shaft three is hinged to the top beam, and a pressure block is provided on the top beam.

5. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 1 is characterized in that: A connector is installed on the outer side of the base, and a pin shaft six is ​​slidably connected inside the connector, and the pin shaft six is ​​hinged to the frame shifting jack.

6. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 1, characterized in that: A pin shaft four is slidably connected inside the side support plate, and the pin shaft four is hinged to the base.

7. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 1, characterized in that: A pressure plate is provided inside the base, and a pin shaft five is provided inside the pressure plate.

8. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 7, characterized in that: An alternating control valve is provided between the telescopic jack and the supporting jack.

9. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 8, characterized in that: The alternating control valve includes a first two-position three-way solenoid valve and a second two-position three-way solenoid valve, the oil inlet of the first two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the oil outlet is respectively connected to the control oil circuits of the moving frame jack and the telescopic jack of the front hydraulic support, and the oil return port is connected to the oil tank; the oil inlet of the second two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the oil outlet is respectively connected to the control oil circuits of the moving frame jack and the telescopic jack of the rear hydraulic support, and the oil return port is connected to the oil tank; the first two-position three-way solenoid valve and the second two-position three-way solenoid valve are connected by an interlocking circuit, when the first two-position three-way solenoid valve is energized, the second two-position three-way solenoid valve is de-energized, and vice versa.

10. The double-linked alternating self-moving hydraulic support for coal mine tunnel support according to claim 9, characterized in that: It also includes a control module and a safety solenoid valve, which is installed on the oil line of the alternating control valve; an infrared thermal imaging sensor and a millimeter-wave radar sensor are respectively provided under the front hydraulic support and the rear hydraulic support, for jointly detecting whether there are workers under the support and the working status of the workers; a pressure sensor is respectively provided above the top beams of the front hydraulic support and the rear hydraulic support, for real-time collection of support force data and transmission to the controller; The control module is electrically connected to the safety solenoid valve, the infrared thermal imaging sensor, the millimeter wave radar sensor and the pressure sensor respectively. The control module establishes an early warning model that correlates personnel work status with support force data as follows: E′=E×(1+k·S) in: E′ is the revised safety warning index, and E is the original safety warning index, which is the initial preset value; k is the working status influence coefficient, which is set according to the personnel operation type: Static operation: k = 0.1; Dynamic operation: k = 0.3; Equipment installation: k = 0.5; S is the personnel work intensity index, which is obtained by analyzing the micro-motion signal spectrum of the millimeter-wave radar and has a value range of 0 to 1; The control module is used to identify the presence of people through infrared thermal imaging sensors, and then analyze the frequency of people's movements through the micro-Doppler effect of millimeter-wave radar to jointly determine the type of operation; When the support force fluctuates during equipment installation, the control module uses an LSTM neural network trained using historical data to distinguish between normal fluctuations caused by the work and abnormal fluctuations caused by roof hazards. Normal fluctuation characteristics: Fluctuation range ≤ 10%F avg , and the duration is ≤5 minutes; Abnormal fluctuation characteristics: Fluctuation amplitude>15%F avg , or with the acceleration of the supporting force change When human operation is detected, the warning threshold is adjusted according to the following rules: Static operation: Level 1 threshold E th1 Increase by 10%; Dynamic operation: Level 1 threshold E th1 Increase by 20%, secondary threshold E th2 remain unchanged; Equipment installation: Level 1 threshold E th1 Remain unchanged, the secondary threshold E th2 15% reduction; The control module is further configured to: When personnel are in static operation, the safety solenoid valve allows the rack moving speed to be 80% of the normal speed; When personnel are in dynamic operation, the safety solenoid valve will limit the rack moving speed to 50% of the normal speed, and start the sound and light prompt "operation in progress, rack moving speed limited"; When E′ calculated by the associated warning model ≥ E th2 When the machine is in emergency, no matter what the working status of the personnel is, the solenoid valve immediately closes the hydraulic circuit and sends an emergency stop signal to the tunnel monitoring system.

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