Double-interchangeable self-moving hydraulic support for coal mine roadway support

Abstract

The present application belongs to the field of hydraulic support, and particularly relates to a double-alternating self-moving hydraulic support for coal mine roadway support, 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, an inner connecting beam is arranged on the outer side of the front hydraulic support, and a moving frame jack is arranged between the front hydraulic support and the rear hydraulic support. The front hydraulic support and the rear hydraulic support are connected in series by adopting one group of front hydraulic supports and one group of rear hydraulic supports, the front and rear support structures are completely consistent, two vertical columns are adopted to support the roof beam and the base, the structure is simple, the space size is small, the rectangular and trapezoidal roadway cross section shapes are adapted, one group of supports is lowered by alternating control, the other group of supports is tightened to the roof, the extension and retraction of the telescopic jack and the moving frame jack are simultaneously operated, the front and rear hydraulic supports are alternately and automatically moved forward and longitudinally moved as a whole, and the present application has high automation degree.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic supports, specifically relating to a double-linked alternating self-moving hydraulic support for coal mine roadway support. Background Technology

[0002] Currently, the mature and widely used hydraulic supports for roadway support in China mainly have two structural types: two-row alternating stepping self-moving hydraulic supports and front-to-back integral 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, hydraulic supports need to be moved forward as a whole group, with each movement consisting of a pushing step. All hydraulic supports must complete a complete cycle of lowering, moving, and raising. Each row of hydraulic supports is generally composed of 4 or 5 sets of hydraulic supports connected 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 roadway roof and the anchor cable support system, leading to roof leakage and roof collapse accidents. In addition, due to the limitations of the support principle and structure of the two-row alternating stepping hydraulic supports, when the roadway support strength requirement is high, increasing the number of columns and cylinder diameter will inevitably increase the structural size and initial support force of the support, resulting in a series of adverse effects such as higher frequency, greater repeated support force, and greater resistance to moving the support.

[0004] Therefore, the two-row alternating stepping hydraulic support is no longer feasible in roadways with a wide range of mining impact, severe roof and floor fractures, and high pressure. Summary of the Invention

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

[0006] To achieve the above objectives, the present invention provides a double-linked alternating self-moving hydraulic support for coal mine roadway support, comprising a front hydraulic support and a rear hydraulic support. An outer connecting beam is provided between the front and rear hydraulic supports, and an inner connecting beam is provided on the outer side of the front hydraulic support. A moving jack is provided between the front and rear hydraulic supports. The front and rear hydraulic supports have the same structure. Both the front and rear hydraulic supports include a top beam, a base, and a side support plate. Two symmetrically distributed columns are installed at the upper end of the base, and a top beam is installed at the upper end of each column. A side support plate is installed on the outer side of the base, and a clamp is provided on the outer side of each column. A pin is slidably connected inside the top beam.

[0007] The principle of this invention is as follows: During use, the hydraulic system controls the descent of the top beam above the front hydraulic support, and simultaneously activates the extension of the telescopic jacks while retracting the frame-shifting jacks. The two jacks work together to move the front hydraulic support. By alternately controlling one set of supports to lower its height while the other set tightens the top plate, and simultaneously operating the extension and retraction of the telescopic and frame-shifting jacks, the alternating automatic forward movement of the front and rear hydraulic supports and the overall longitudinal movement are achieved, resulting in a high degree of automation.

[0008] The beneficial effects of this invention are as follows: This invention is composed of a set of front hydraulic supports and a set of rear hydraulic supports connected in series. The front and rear support structures are completely identical. Two columns support the top beam and the base. The structure is simple and the space size is small. It can adapt to rectangular and trapezoidal tunnel cross-sections. By alternately controlling the height of one set of supports to lower and the other set to tighten the roof plate, and simultaneously operating the extension and retraction of telescopic jacks and frame-shifting jacks, the alternating automatic forward movement of the front and rear hydraulic supports and the overall longitudinal movement are realized, which has a high degree of automation.

[0009] Furthermore, a telescopic jack is installed on the outer connecting beam, which is hinged to the inner connecting beam. The outer and inner connecting beams adopt a rectangular cross-section structure design, which has guiding, anti-deviation, and anti-tipping functions during alternating automatic forward movement and overall longitudinal movement, ensuring the stability of the support and the 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, which can be deflected by 90°.

[0011] Furthermore, the column is internally slidably connected with a pin three, which is hinged to the top beam. A pressure block is provided on the top beam, and the column, top beam, and base all adopt a spherical fit.

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

[0013] Furthermore, a fourth pin is slidably connected inside the side support plate. The fourth pin is hinged to the base, and the fourth pin can connect the base and the side support plate.

[0014] Furthermore, the base has a pressure plate inside, and the pressure plate has a pin five inside, so that the column can be connected to the base through the pressure plate and the pin five.

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

[0016] The beneficial effects of this invention are as follows: This invention offers strong support capabilities. Compared to dense support using ordinary single hydraulic props, one set of double-linked alternating self-moving hydraulic supports can replace 20 densely installed ordinary single hydraulic props, increasing the initial support force on the roof from 1800kN to 6180kN. Within the same roof management area, the initial support force can be increased by more than 240%, effectively controlling roof subsidence and demonstrating strong support capabilities. While increasing the initial support force, it reduces the number of equipment, improves the efficiency of support relocation, ensures the quality of roadway roof management, and enhances the safety of personnel and equipment.

[0017] This invention significantly reduces the weight of hydraulic supports, to only 20% to 25% of that of traditional two-row roadway hydraulic supports, greatly reducing the workload of support relocation, improving the working environment for employees, and playing an important role in ensuring safe production and high productivity.

[0018] This invention designs a combined operation mode of local frame operation and adjacent frame operation. The uprights and side support jacks of the front and rear hydraulic supports are controlled by local frame operation, while the moving jacks and telescopic jacks are controlled by adjacent frame operation. By setting up alternating control valves, both the front and rear hydraulic supports can operate the moving jacks and telescopic jacks, while ensuring that they cannot be operated simultaneously. This realizes adjacent frame operation and avoids misoperation (avoiding the hidden danger of untimely personnel evacuation), thus achieving inherently safe operation.

[0019] This invention has good adaptability to roadway conditions, high reliability, and strong adaptability, providing strong equipment support for safe production in coal mines. It conforms to the development trend of hydraulic supports for roadways and has obvious advanced features.

[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 inlet of the first two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the outlet is connected to the control oil circuit of the front hydraulic support's shift jack and telescopic jack respectively, and the return port is connected to the oil tank. The inlet of the second two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the outlet is connected to the control oil circuit of the rear hydraulic support's shift jack and telescopic jack respectively, and the 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.

[0021] Furthermore, it also includes a control module and a safety solenoid valve, the safety solenoid valve being installed on the oil circuit of the alternating control valve; infrared thermal imaging sensors and millimeter-wave radar sensors are respectively installed below the front hydraulic support and the rear hydraulic support, for jointly detecting whether there are workers under the support and their working status; pressure sensors are respectively installed above the top beams of the front hydraulic support and the rear hydraulic support, for collecting support force data in real time and transmitting it to the controller.

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

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

[0024] E′=E×(1+k·S)

[0025] in:

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

[0027] k is the work status influence coefficient, which is set according to the type of personnel's work:

[0028] Static assignment: k = 0.1;

[0029] Dynamic assignment: k = 0.3;

[0030] Equipment installation: k = 0.5;

[0031] S is the personnel work intensity index, which is derived from the micro-motion signal spectrum analysis of millimeter-wave radar, and its value ranges from 0 to 1.

[0032] The control module is used to identify the presence of personnel through an infrared thermal imaging sensor, and then analyze the frequency of personnel movements through the micro-Doppler effect of millimeter-wave radar to jointly determine the type of work.

[0033] When the personnel's work type is "equipment installation," if the supporting force fluctuates, the control module uses an LSTM neural network trained on historical data to distinguish between "normal fluctuations caused by the work" and "abnormal fluctuations caused by potential roof hazards."

[0034] Normal fluctuation characteristics: fluctuation amplitude ≤ 10%F avg And the duration is ≤5 minutes;

[0035] Abnormal fluctuation characteristics: fluctuation amplitude > 15%F avg Or accompanied by changes in support force acceleration

[0036] When personnel are detected working, the warning threshold is adjusted according to the following rules:

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

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

[0039] Equipment installation: Level 1 threshold E th1 The second-order threshold E remains unchanged. th2 Reduced by 15%;

[0040] The control module is also used for:

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

[0042] When personnel are in dynamic operation, the safety solenoid valve will limit the moving speed to 50% of the normal speed and activate the audible and visual warning "Operation in progress, moving speed is limited";

[0043] When the correlation early warning model calculates E′≥E th2 At any time, regardless of the personnel's working status, the solenoid valve immediately closes the hydraulic passage and sends an emergency stop signal to the roadway monitoring system. Attached Figure Description

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

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

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

[0047] Figure 4 This invention relates to a double-linked alternating self-moving hydraulic support for coal mine roadway support. Figure 2 A schematic diagram of the base;

[0048] Figure 5 This invention relates to a double-linked alternating self-moving hydraulic support for coal mine roadway support. Figure 2 A schematic diagram of the column.

[0049] The reference numerals in the accompanying drawings 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 Implementation

[0051] The following detailed description illustrates the specific implementation method:

[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 roadway support, including a front hydraulic support 1 and a rear hydraulic support 2. An outer connecting beam 3 is provided between the front hydraulic support 1 and the rear hydraulic support 2. An inner connecting beam 4 is provided on the outer side of the front hydraulic support 1. A moving jack 6 is provided between the front hydraulic support 1 and the rear hydraulic support 2. The front hydraulic support 1 and the rear hydraulic support 2 have the same structure. Both the front hydraulic support 1 and the rear hydraulic support 2 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 top beam 11 is installed on the upper end of the columns 14. The side support plate 13 is installed on the outer side of the base 12. A clamp 113 is provided on the outer side of the columns 14. A pin 17 is slidably connected inside the top beam 11.

[0053] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 As shown, a telescopic jack 5 is installed on the outer connecting beam 3. 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. During the alternating automatic forward movement and overall longitudinal movement, it has the functions of guidance, anti-deviation and anti-tipping, ensuring the stability of the support and the safety during use. A side support jack 15 is installed on the outside of the column 14. The side support jack 15 is hinged to the side support plate 13. The side support plate 13 can be deflected by 90°. The column 14 is internally slidably connected with a pin shaft 19. The pin shaft 19 is hinged to the top beam 11. A pressure block 18 is installed on the top beam 11. The column 14, the top beam 11 and the base 12 all adopt a spherical fit.

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

[0055] The specific implementation process of this invention is as follows: In use, the top beam 11 above the front hydraulic support 1 is lowered by controlling the hydraulic system. Then, the telescopic jack 5 is extended simultaneously, and the moving jack 6 is retracted. The two jacks work together to move the front hydraulic support 1. Thus, by alternately controlling one set of supports to lower the height while the other set tightens the top plate, and simultaneously operating the extension and retraction of the telescopic jack 5 and the moving jack 6, the alternating automatic forward movement of the front and rear hydraulic supports and the overall longitudinal movement are achieved, resulting in a high degree of automation.

[0056] This invention employs a series of front hydraulic supports 1 and a rear hydraulic support 2, with identical front and rear support structures. Two columns 14 support the top beam 11 and the base 12, resulting in a simple structure and compact size, suitable for rectangular and trapezoidal tunnel cross-sections. By alternately controlling the height of one set of supports to decrease while the other set tightens the roof, and simultaneously operating the extension and retraction of the telescopic jacks 5 and the frame-shifting jacks 6, the alternating automatic forward movement of the front and rear hydraulic supports and the overall longitudinal movement are achieved, resulting in a high degree of automation.

[0057] In another embodiment, the oil inlet of the first two-position three-way solenoid valve (not marked in the attached drawings, 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 circuit of the moving jack 6 and the telescopic jack 5 of the front hydraulic support 1 through branch oil circuits respectively, and the oil return port is connected to the oil tank (not shown) through a low-pressure oil pipe.

[0058] The 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 outlet is connected to the control oil circuit of the rear hydraulic support 2's moving jack 6 and telescopic jack 5 respectively, and the return port is connected to the oil tank.

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

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

[0061] When the first solenoid valve is de-energized and the second solenoid valve is energized, hydraulic oil flows to the rear support's shifting jack 6 and telescopic jack 5, causing the rear hydraulic support 2 to move forward while the front support remains in a supported state.

[0062] In another embodiment, the 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 field covers an area of ​​2m×3m below the support. It is connected to the control module (installed in the electrical control box of the base 12, not marked in the attached figure) via a data cable.

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

[0064] Taking the example of workers installing equipment under a support frame, an infrared thermal imaging sensor detects a heat source of 37°C (worker's body temperature) and determines that "workers are present"; millimeter-wave radar analyzes micro-motion signals: it detects periodic vibrations of 1-3Hz (tool striking frequency), and combined with the amplitude of the movement (changes in radar echo intensity), calculates the worker's work intensity index S = 0.7.

[0065] The job type is determined to be "equipment installation," and the working status influence coefficient k = 0.5 is used. The corrected early warning index is as follows:

[0066] E'=E×(1+0.5×0.7)=1.35E

[0067] During operation, workers may need to temporarily unload the local support force. The pressure sensor detected that the support force dropped from 6000kN to 5400kN (fluctuation range of 10%), and then recovered after 3 minutes.

[0068] The control module identifies "normal fluctuations" using an LSTM neural network (training data includes 1000 sets of historical job data) and does not trigger an alert; alert threshold adjustment: secondary threshold E th2 Reduce by 15% (e.g., from 50 to 42.5) to increase sensitivity to potential hazards.

[0069] When cracks appear in the roof slab, the supporting force drops from 6000kN to 4800kN within 2 minutes (fluctuation range of 20%), and the acceleration changes. At this point, 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 passage and simultaneously activate the audible and visual alarm (the alarm is installed at the front end of the top beam 11).

[0071] When personnel are standing and observing the scaffold's status, infrared and radar detection indicates "static operation," with k=0.1 and S=0.2. The safety solenoid valve limits the scaffold movement speed to 80% of the normal speed (0.5m / min), i.e., 0.4m / min; the first-level threshold E th1 The accuracy was increased from 0.6 to 0.66, reducing false alarms.

[0072] When personnel tighten bolts with a wrench, it is considered "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 a speaker installed on base 12; if the support force fluctuation reaches 12%F at this time... avg Because the first-level threshold has been increased to 0.72, the system does not trigger an alert (it may have misjudged when the original threshold was 0.6).

[0073] 1,000 sets of historical support force fluctuation data were collected on-site in the coal mine roadway. Normal fluctuation data (700 sets): from operation scenarios such as personnel and equipment installation and maintenance, such as the change in support force when replacing the side support jack 15 and adjusting the angle of the top beam 11; Abnormal fluctuation data (300 sets): from potential hazards such as partial collapse of the roof and crack expansion, which were recorded in real time by pressure sensor 11.

[0074] The following feature is extracted from each data set and used as LSTM input: rate of change of support force. Fluctuation duration t (min); Current value of support force F current Compared with historical average F avg Percentage deviation; acceleration of change in support force Personnel work 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, activation function Sigmoid) is used. Specific parameters are: input sequence length: 100 time steps (corresponding to 1 second of data at a sampling frequency of 100Hz); loss function: binary cross-entropy; optimizer: Adam (learning rate 0.001). The trained model is written to the chip in the control module (installed in the electrical control box in base 12) via firmware upgrade.

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

[0077] The control module synchronously acquires data from infrared thermal imaging (25fps) and millimeter-wave radar (100Hz), establishing a timestamp alignment mechanism (error ≤10ms). It extracts infrared temperature change features and radar micro-motion features respectively, generating preliminary operation type probabilities (P1 / P2) and confidence levels (C1 / C2). Data mutual correction is performed; if features conflict, historical data retrieval is initiated; if they match, the process proceeds directly to the decision-making layer. Based on the historical case database, the similarity between the current feature and historical data is calculated, and the judgment result is corrected.

[0078] When infrared sensors detect a temperature abrupt change region (ΔT > 0.1℃ / frame) but the radar does not detect a micro-motion frequency, it is judged as a "low-amplitude movement," and the radar feature confidence level C2 is multiplied by the correction coefficient k1 = 0.7 (e.g., a person slowly moving a tool). If the radar detects a typical operating frequency (e.g., a 1.5Hz tapping sound) but the infrared edge change is not obvious, it is judged as an "obstructed scene," and the infrared feature confidence level C1 is multiplied by k2 = 0.5 (e.g., a person working behind a support structure).

[0079] Historical data comprises several sets of manually labeled valid data from the past. Multidimensional indexes are built for features such as infrared edge complexity, temperature change rate, and radar frequency components, supporting rapid retrieval.

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

[0081]

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

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

[0084] Sort by similarity, and vote on the job types of the top 3 cases according to weight (Sim / ΣSim), as follows:

[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 similarity <0.5 are eliminated, and new cases are added to maintain the database capacity.

[0086] In a real-world scenario, if personnel are working dynamically behind the support structure (infrared shielding), the infrared sensor will only detect localized temperature changes (T) due to the obstruction caused by the support column 14. var =0.06), marginal complexity E edge =1.2, initially determined as "static operation" (confidence level C1 = 0.7). The millimeter-wave radar detected a 2.3Hz tapping frequency (main frequency), determined as "dynamic operation" (confidence level C2 = 0.9).

[0087] At this point, the control module detects a result conflict (static vs. dynamic) and triggers the radar to correct the infrared signal. Since the radar confidence level C2 > 0.8, the infrared confidence level C1 is reduced to 0.7 × 0.3 = 0.21, and a conflict flag is output during cross-validation.

[0088] The control module retrieves 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 performed. At this point, the weight of the dynamic task is 0.85 + 0.82 + 0.78 = 2.45. Since there are no other types of cases, it is finally determined to be a "dynamic task".

[0093] Therefore, the safety solenoid valve limits the moving speed to 50% of the normal speed and activates audible and visual alerts to avoid misjudgments caused by infrared obstruction.

[0094] It should be noted in advance that, in this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0095] The above descriptions are merely embodiments of the present invention, and common knowledge regarding specific structures and characteristics is not elaborated upon here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described 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 roadway support, comprising a front hydraulic support and a rear hydraulic support, characterized in that: An external connecting beam is provided between the front hydraulic support and the rear hydraulic support. An internal connecting beam is provided on the outer side of the front hydraulic support. A shifting jack is provided between the front hydraulic support and the rear hydraulic support. The front hydraulic support and the rear hydraulic support have the same structure. Both the front hydraulic support and the rear hydraulic support 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 top beam is installed on the upper end of the columns. The side support plate is installed on the outer side of the base. A clamp is provided on the outer side of the columns. A pin is slidably connected inside the top beam. The outer connecting beam is equipped with a telescopic jack, which is hinged to the inner connecting beam; the outer side of the column is equipped with a side support jack, which is hinged to the side support plate. An alternating control valve is provided between the telescopic jack and the side support jack; The alternating control valve includes a first two-position three-way solenoid valve and a second two-position three-way solenoid valve. The inlet of the first two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the outlet is connected to the control oil circuit of the front hydraulic support's shift jack and telescopic jack respectively, and the return port is connected to the oil tank. The inlet of the second two-position three-way solenoid valve is connected to the main oil circuit of the hydraulic system, the outlet is connected to the control oil circuit of the rear hydraulic support's shift jack and telescopic jack respectively, and the 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. It also includes a control module and a safety solenoid valve, the safety solenoid valve being installed on the oil circuit of the alternating control valve; infrared thermal imaging sensors and millimeter-wave radar sensors are respectively installed below the front hydraulic support and the rear hydraulic support, for jointly detecting whether there are workers under the support and their working status; pressure sensors are respectively installed above the top beams of the front hydraulic support and the rear hydraulic support, for collecting support force data in real time and transmitting it to the control module. 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 working status with support force data as follows: in: This is the revised safety warning index. This is the original safety warning index, which is the initial preset value; The work status impact coefficient is set according to the type of work performed by the personnel. Static tasks: ; Dynamic assignments: ; Equipment installation: ; The personnel work intensity index is derived from the micro-motion signal spectrum analysis of millimeter-wave radar, with a value range of 0 to 1. The control module is used to identify the presence of personnel through an infrared thermal imaging sensor, and then analyze the frequency of personnel movements through the micro-Doppler effect of millimeter-wave radar to jointly determine the type of work. When the personnel's work type is "equipment installation," if the supporting force fluctuates, the control module uses an LSTM neural network trained on historical data to distinguish between "normal fluctuations caused by the work" and "abnormal fluctuations caused by potential roof hazards." Normal fluctuation characteristics: fluctuation range ≤10% And the duration is ≤5 minutes; Abnormal fluctuation characteristics: fluctuation amplitude > 15% Or accompanied by changes in supporting force and acceleration. ; When personnel are detected working, the warning threshold is adjusted according to the following rules: Static tasks: Level 1 threshold Increase by 10%; Dynamic tasks: Level 1 threshold Increase by 20%, secondary threshold Remain unchanged; Equipment installation: Level 1 threshold Remain unchanged, secondary threshold Reduced by 15%; The control module is also used for: When personnel are in a static working state, the safety solenoid valve allows the frame to move at 80% of the normal speed; When personnel are in dynamic operation, the safety solenoid valve will limit the moving speed to 50% of the normal speed and activate the audible and visual warning "Operation in progress, moving speed is limited"; When the correlation early warning model calculates At any time, regardless of the personnel's working status, the safety solenoid valve immediately closes the hydraulic passage and sends an emergency stop signal to the roadway monitoring system.

2. The double-linked alternating self-moving hydraulic support for coal mine roadway support according to claim 1, characterized in that: The column is internally slidably connected by a pin three, which is hinged to the top beam. A pressure block is provided on the top beam.

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

4. The double-linked alternating self-moving hydraulic support for coal mine roadway support according to claim 1, characterized in that: The side support plate is internally slidably connected to a fourth pin, which is hinged to the base.

5. The double-linked alternating self-moving hydraulic support for coal mine roadway support according to claim 1, characterized in that: The base has a pressure plate inside, and the pressure plate has a five-pin inside.

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