Hydraulic support intelligent sensing and monitoring system based on MEMS technology

Abstract

The invention discloses a hydraulic support intelligent sensing and monitoring system based on an MEMS technology, and relates to the technical field of mine intellectualization and automation. The remote monitoring platform is in communication connection with an MEMS inertial measurement sensor module, an error compensation calibration module, a tilt angle sensor module, an autonomous north-seeking algorithm module, a data transmission communication module, an electro-hydraulic control system module and a remote monitoring alarm module. By integrating the high-precision MEMS inertial measurement sensor and the tilt angle sensor, the posture change of the hydraulic support can be accurately monitored in real time, and compared with a traditional manual detection and regular inspection mode, the acceleration, the angular velocity, the tilt angle, the position and other key parameters of the support can be monitored in real time; the accuracy and the real-time performance of attitude monitoring are greatly improved, the high-precision and real-time monitoring capability of the system provides more reliable technical support for safety production of a coal mine, and safety accidents caused by abnormal attitude of the support are effectively prevented.

Description

Technical Field

[0001] This invention relates to the field of intelligent and automated mining technology, specifically to an intelligent sensing and monitoring system for hydraulic supports based on MEMS technology. Background Technology

[0002] With the rapid development of the coal industry, mine safety and production efficiency have become the focus of industry attention. The coal industry is facing increasingly complex production environments and high safety risks, especially in fully mechanized coal mining faces. As an important component of coal mining equipment, the stability and performance of hydraulic supports directly affect the safety and production efficiency of the mine. During coal mining operations, hydraulic supports need to be adjusted according to the operating status of the coal mining machine. The top beam, cross beam, tail beam and other parts of the support will change position and angle according to the working conditions.

[0003] Traditional methods for detecting the attitude of hydraulic supports mainly rely on manual experience and periodic inspections. This approach is not only inefficient but also has limited accuracy and reliability, making it difficult to meet the demands of modern mines for efficient, safe, and intelligent production. Therefore, the problem we aim to solve is how to develop an intelligent displacement and attitude detection system for hydraulic supports by integrating MEMS tilt sensors and MEMS inertial navigation systems. This system can monitor the attitude changes of hydraulic supports in real time, automatically identify and warn of potential safety issues, and provide strong technical support for safe production in mines. To this end, we propose an intelligent sensing and monitoring system for hydraulic supports based on MEMS technology. Summary of the Invention

[0004] The purpose of this invention is to provide an intelligent sensing and monitoring system for hydraulic supports based on MEMS technology, so as to solve the problems mentioned in the background art.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology includes a remote monitoring platform. The remote monitoring platform is communicatively connected to a MEMS inertial measurement sensor module, an error compensation and calibration module, a tilt sensor module, an autonomous north-finding algorithm module, a data transmission and communication module, an electro-hydraulic control system module, and a remote monitoring and alarm module. The MEMS inertial measurement sensor module is used to measure the acceleration, angular velocity and position change of the hydraulic support. It is the core sensing component of the entire system and can acquire the dynamic information of the support in real time. The error compensation and calibration module is used to perform error compensation and temperature compensation on the MEMS inertial measurement sensor module. Through the compensation algorithm, it corrects the output error of the sensor at different temperatures, reduces the system deviation of the sensor, and improves the measurement accuracy and stability of the sensor. The tilt sensor module is used to measure the tilt angle of the hydraulic support, providing additional attitude information to monitor the attitude change of the support in the vertical direction. It can monitor the tilt state of the hydraulic support in real time and prevent safety accidents caused by excessive tilt of the support. The autonomous north-finding algorithm module is used to measure the Earth's rotation angular velocity using a MEMS gyroscope, autonomously determine the true north direction of the hydraulic support, provide the initial azimuth angle for the navigation system, solve the problem of lack of external positioning signals in the downhole environment, and realize autonomous navigation; The data transmission communication module is used to transmit the data collected by the MEMS inertial measurement sensor module and the tilt sensor module to the ground control system or remote monitoring platform, realizing real-time data interaction between the downhole equipment and the ground control center, supporting remote monitoring and automated control, and ensuring the real-time performance and reliability of the data through a stable communication link. The electro-hydraulic control system module is used to connect to the hydraulic system of the hydraulic support. Based on the pose information provided by the sensor, it performs pose calculation, data storage and dynamic display, and automatically adjusts the hydraulic support. It can adjust the angle, position and pushing process of the support in real time to ensure the stability and safety of the hydraulic support on the working surface. The remote monitoring and alarm module is used to visualize the real-time monitored data on the remote monitoring platform and set alarm thresholds. When the posture is abnormal, an alarm is issued. Through intuitive data visualization, users can more easily understand the posture information of the hydraulic support, respond to abnormal situations in a timely manner, and prevent safety accidents from occurring.

[0006] A further improvement to the technical solution of the present invention is that the MEMS inertial measurement sensor module specifically includes: When the system starts up, the MEMS inertial measurement sensor module performs initialization operations and checks the hardware of the sensors, including the MEMS accelerometer, gyroscope and displacement sensor, to ensure that they are in normal working condition. After initialization, the MEMS inertial measurement sensor module enters standby mode, ready to receive external commands to start data acquisition. Upon receiving the command to start monitoring, the MEMS inertial measurement sensor module enters the working state. The MEMS accelerometer, gyroscope and displacement sensor in it sense the acceleration and angular velocity changes of the hydraulic support through their respective sensitive elements. The MEMS accelerometer is used to measure the acceleration of the support in three directions, the gyroscope measures the rotational speed of the support around three axes, and the displacement sensor data provides the displacement data of the support. The microprocessor inside the MEMS inertial measurement sensor module filters the data to remove high-frequency noise and random interference, thereby improving the signal-to-noise ratio. It also performs preliminary format conversion and standardization on the data to make it meet the requirements of subsequent processing modules of the system. The calibration procedure is initiated, and the error compensation algorithm of the error compensation calibration module is used to perform error compensation and temperature compensation on the raw data collected by the MEMS inertial measurement sensor module. This eliminates the zero bias, scale factor error and non-orthogonal error of the sensor under static conditions. Combined with temperature compensation technology, it ensures that the sensor can achieve high-precision measurement under different temperature conditions. The calibrated and compensated data is output in the form of a digital signal and transmitted to the system's remote monitoring platform via a communication interface (SPI, I2C, etc.). After completing one data acquisition and transmission, the MEMS inertial measurement sensor module returns to standby mode and continues to monitor external commands. Once a new monitoring command or configuration change command is received, it responds and executes the corresponding operation.

[0007] A further improvement to the technical solution of the present invention is that the error compensation calibration module specifically includes: The error compensation calibration module loads pre-stored compensation parameters, including temperature compensation coefficient, zero bias compensation value, and scale factor compensation value. The compensation parameters are obtained through calibration experiments of the sensor under different temperature and environmental conditions. At the same time, it detects the connection status of the MEMS inertial measurement sensor module to ensure that the sensor can communicate normally and output data, and then enters the standby state to prepare to receive the sensor's raw data. It receives raw data from the MEMS inertial measurement sensor module, including acceleration, angular velocity and temperature data, and performs temperature compensation on the acceleration and angular velocity data based on the collected temperature data and a pre-loaded temperature compensation coefficient. After temperature compensation is completed, the error compensation calibration module further corrects the system deviation of the compensated data for the zero bias and scale factor errors of the sensor. After error compensation is completed, the error compensation calibration module performs a comprehensive verification of the performance of the MEMS inertial measurement sensor module. By comparing the measurement data before and after compensation, it evaluates whether the compensation effect has met expectations. The verification process includes checking whether the data after compensation is within a reasonable error range and whether it meets the accuracy requirements of the system. If the compensation effect does not meet expectations, the compensation parameters are readjusted and the compensation process is repeated.

[0008] A further improvement to the technical solution of the present invention is that the tilt sensor module specifically includes: The tilt sensor module initializes upon system startup, setting the measurement range and accuracy parameters, and performing internal sensor hardware checks, including verifying the sensor's connection status and calibration parameters to ensure the sensor is in normal working condition and can accurately measure the tilt angle of the hydraulic support. Simultaneously, the tilt sensor module loads pre-set calibration compensation parameters to correct measurement errors under different temperature and environmental conditions, ensuring measurement accuracy. After initialization, the tilt sensor module enters standby mode, ready to receive external commands to begin data acquisition. Upon receiving a monitoring command, the tilt sensor module enters the working state. The sensor in the tilt sensor module measures the tilt angle of the hydraulic support in real time through its sensitive element, senses the attitude change of the support in the vertical direction, and acquires tilt angle data including roll angle and pitch angle. The data is collected with high precision (up to 0.01°) and high frequency to ensure that the minute tilt changes of the hydraulic support can be captured in real time. The collected tilt angle data is stored in the temporary storage unit of the tilt sensor module to provide a basis for subsequent data processing. The tilt angle data is corrected and compensated by the microprocessor inside the tilt angle sensor module. Using pre-loaded calibration compensation parameters, the microprocessor performs temperature compensation and nonlinear correction on the tilt angle data to eliminate the measurement error of the sensor under different environmental conditions. After correction and compensation, the tilt angle data is transmitted to the system's remote monitoring platform via a communication interface (SPI, I2C, or RS485) to ensure data integrity and real-time performance. This allows the remote monitoring platform to promptly acquire the tilt status of the hydraulic support. Simultaneously, the tilt sensor module synchronizes data with the MEMS inertial measurement sensor module to ensure that all monitoring data can work together, providing comprehensive support for the overall attitude monitoring of the hydraulic support. After completing one data acquisition and transmission cycle, the tilt sensor module returns to standby mode to continue monitoring external commands. The tilt sensor module maintains low power consumption and responds in real time to new monitoring commands or configuration change commands. In standby mode, the tilt sensor module can quickly switch to working mode to continue acquiring and transmitting tilt angle data of the hydraulic support.

[0009] A further improvement to the technical solution of this invention lies in that: the autonomous north-finding algorithm module specifically includes: The initialization process involves checking the hardware status of the MEMS gyroscope, including verifying the gyroscope's connection and whether the zero bias is within acceptable limits. It also loads the pre-set north-finding algorithm parameters. Once initialization is complete, the autonomous north-finding algorithm module enters standby mode, ready to receive external commands and begin the north-finding operation. Upon receiving the north-finding command, the autonomous north-finding algorithm module controls the MEMS gyroscope to collect data at four preset positions. At each position, the gyroscope measures the Earth's rotational angular velocity and records the data. The four positions are distributed at 90° intervals to capture the projection of the Earth's rotational angular velocity in different directions. The true north direction of the hydraulic support is calculated by combining the pre-set north-finding algorithm parameters and analyzing the projection of the Earth's rotation angular velocity onto the MEMS gyroscope measurement axis, and by combining the initial attitude information. After the north-finding algorithm is completed, the autonomous north-finding algorithm module outputs the initial azimuth angle of the hydraulic support, i.e. the true north direction, and verifies the output initial azimuth angle of the hydraulic support to ensure that it meets the expected accuracy and range. After the verification is passed, the initial azimuth angle of the hydraulic support is used as the reference of the navigation system. The verification process includes checking whether the azimuth angle is within a reasonable error range and whether it is consistent with the known reference direction. After completing the output and verification of the initial azimuth angle, the autonomous north-finding algorithm module synchronizes the north-finding results to the remote monitoring platform to ensure the data consistency and accuracy of the entire navigation system. At the same time, the autonomous north-finding algorithm module enters standby mode, continues to monitor external commands, and prepares to perform the next north-finding operation. In addition, the autonomous north-finding algorithm module continuously monitors the working status and data quality of the MEMS gyroscope to ensure that the north-finding algorithm can be executed quickly and accurately when needed.

[0010] A further improvement to the technical solution of the present invention is that the calculation expression for the true north direction of the hydraulic support is: ; In the formula, This is the true north direction of the hydraulic support. To obtain the Earth's rotational angular velocity measured at the i-th position, the Earth's rotational angular velocity is measured at four positions (0°, 90°, 180°, 270°). The measured angular velocities are summed in order of position, and multiplied by the corresponding sign (alternating positive and negative). The sum is used as the numerator, and the product of the sum and the cosine function is used as the denominator. The true north direction is then calculated using the arctangent function. The range of values ​​is When the initial azimuth angle of the hydraulic support approaches true north, The value approaches 0.

[0011] A further improvement to the technical solution of the present invention is that the electro-hydraulic control system module specifically includes: The electro-hydraulic control system module establishes a communication connection with the hydraulic system of the hydraulic support, performs system initialization operations, and detects the connection status of each component of the hydraulic system, including whether the solenoid valves and cylinders are properly connected and in an operable state. At the same time, it loads preset control parameters and safety thresholds to ensure that the system has reliable control capabilities when it starts up. After initialization, the electro-hydraulic control system module enters a standby state to receive position and pose information provided by the sensors. The electro-hydraulic control system module receives pose data from the MEMS inertial measurement sensor module and the tilt sensor module. The pose data includes the acceleration, angular velocity and tilt angle information of the hydraulic support. The microprocessor inside the electro-hydraulic control system module performs pose calculation on the pose data to calculate the current support attitude and position information. Based on the calculated current support posture and position information, combined with preset control parameters and safety thresholds, it is determined whether the current support posture meets the standard. If an abnormal posture is found, the electro-hydraulic control system module will automatically trigger the corresponding adjustment command, adjust the pressure and flow of the hydraulic cylinder through the solenoid valve, and automatically adjust the angle and position of the hydraulic support. At the same time, it will adjust the pushing process of the hydraulic support to ensure the stability and safety of the hydraulic support on the working surface and prevent safety accidents caused by abnormal posture. The electro-hydraulic control system module transmits the calculated pose information and adjusted status to the remote monitoring platform in real time for dynamic display, allowing operators to understand the working status of the support at any time. After completing an automatic adjustment and data transmission, the electro-hydraulic control system module returns to standby mode and continues to monitor the pose information provided by the sensors to respond to new monitoring commands or configuration change commands, ensuring the continuous and stable operation of the system.

[0012] A further improvement to the technical solution of the present invention is that the calculation expression for the current support posture and position information is: ; ; In the formula, The current attitude angle of the support. Let J be the acceleration at time j. Let be the angular velocity at time j. Let J be the tilt angle at time j. Let j be the time of the j-th moment. Here, is the attenuation coefficient, used to describe the decay of acceleration and angular velocity over time, and x is the current displacement of the support. The initial position, Let m be the initial velocity, and m be the total number of data samples. The range of values ​​is .

[0013] A further improvement to the technical solution of the present invention is that the remote monitoring alarm module specifically includes: The remote monitoring and alarm module receives real-time monitoring data from the MEMS inertial measurement sensor module, tilt sensor module, and electro-hydraulic control system module, and analyzes the received data to extract key information including the acceleration, angular velocity, tilt angle, and position information of the hydraulic support. The parsed data is visualized through a remote monitoring platform, and the attitude information of the hydraulic support is presented in the form of charts, graphs and real-time data streams. Users set corresponding alarm thresholds on the remote monitoring platform according to the normal working range and safety standards of the hydraulic support, and monitor the real-time monitoring data according to the preset alarm thresholds to determine whether the support posture is abnormal. When real-time monitoring data exceeds the preset alarm threshold, the remote monitoring alarm module triggers the alarm mechanism and sends alarm information. The alarm methods include visual alarms (flashing red alarm lights, pop-up warning windows) and audible alarms (alarm sounds). The alarm information includes the specific content of the anomaly, the time and location of the anomaly, and the alarm information is recorded in the system log for subsequent analysis and tracing. After receiving the alarm, the user can view the alarm information on the remote monitoring platform, analyze the cause of the abnormal posture, and take corresponding measures.

[0014] Due to the adoption of the above technical solution, the technical progress achieved by this invention compared to the prior art is as follows: This invention provides an intelligent sensing and monitoring system for hydraulic supports based on MEMS technology. By integrating high-precision MEMS inertial measurement sensors and tilt sensors, it can monitor the attitude changes of hydraulic supports in real time and accurately. Compared with traditional manual inspection and periodic checks, it can monitor key parameters such as acceleration, angular velocity, tilt angle and position of the supports in real time, which greatly improves the accuracy and real-time performance of attitude monitoring. Its high-precision and real-time monitoring capabilities provide more reliable technical support for safe production in coal mines and effectively prevent safety accidents caused by abnormal support attitude.

[0015] This invention provides an intelligent sensing and monitoring system for hydraulic supports based on MEMS technology. It is tightly integrated with the electro-hydraulic control system module and can automatically perform posture calculation and dynamic adjustment based on the real-time monitored support posture data. Through a remote monitoring platform, operators can understand the operating status of the support in real time and perform remote control and adjustment as needed. The ability of automated control and intelligent adjustment not only improves the production efficiency of the mine, but also reduces the labor intensity of operators and reduces the risk of operational errors and safety accidents caused by human factors. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in this invention. For those skilled in the art, other drawings can be obtained based on these drawings.

[0017] Figure 1 This is a schematic diagram of the system functional modules of the present invention; Figure 2 This is a schematic diagram illustrating the workflow of the autonomous north-finding algorithm module of this invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Example 1, as Figure 1 As shown, the present invention provides an intelligent sensing and monitoring system for hydraulic supports based on MEMS technology, including a remote monitoring platform. The remote monitoring platform is communicatively connected to a MEMS inertial measurement sensor module, an error compensation and calibration module, a tilt sensor module, an autonomous north-finding algorithm module, a data transmission and communication module, an electro-hydraulic control system module, and a remote monitoring and alarm module. The MEMS inertial measurement sensor module, used to measure the acceleration, angular velocity, and position changes of the hydraulic support, is the core sensing component of the entire system. It can acquire the dynamic information of the support in real time, helping the system accurately track the displacement and orientation changes of the hydraulic support, ensuring that the support's motion trajectory, position, and orientation are monitored in real time. Upon system startup, the MEMS inertial measurement sensor module performs initialization operations and checks the hardware of the sensors, including the MEMS accelerometer, gyroscope, and displacement sensor, ensuring they are in normal working condition. After initialization, the MEMS inertial measurement sensor module enters standby mode, ready to receive external commands to begin data acquisition. Upon receiving the command to start monitoring, the MEMS inertial measurement sensor module enters working mode. The MEMS accelerometer, gyroscope, and displacement sensor, through their respective sensitive elements, sense the acceleration and angular velocity changes of the hydraulic support. The MEMS accelerometer measures the acceleration of the support in three directions, the gyroscope measures the rotational speed of the support around three axes, and the displacement sensor is combined with the data. The sensor data provides displacement data of the support. The microprocessor inside the MEMS inertial measurement sensor module filters the data to remove high-frequency noise and random interference, thereby improving the signal-to-noise ratio. The data also undergoes preliminary format conversion and standardization to meet the requirements of subsequent processing modules. The calibration program is then initiated, and the error compensation algorithm of the error compensation calibration module performs error compensation and temperature compensation on the raw data collected by the MEMS inertial measurement sensor module. This eliminates zero bias, scale factor error, and non-orthogonality error of the sensor under static conditions. Combined with temperature compensation technology, it ensures that the sensor can achieve high-precision measurement under different temperature conditions. The calibrated and compensated data is output in the form of a digital signal and transmitted to the system's remote monitoring platform through communication interfaces (SPI, I2C, etc.). After completing one data acquisition and transmission, the MEMS inertial measurement sensor module returns to standby mode to continue monitoring external commands. Once a new monitoring command or configuration change command is received, it responds and executes the corresponding operation. The error compensation calibration module performs error and temperature compensation on the MEMS inertial measurement sensor module. Through a compensation algorithm, it corrects the sensor's output error at different temperatures, reducing system bias and improving measurement accuracy and stability. This allows the sensor to maintain high-precision measurements under various environmental conditions. Error compensation ensures reliable performance during long-term operation. The module loads pre-stored compensation parameters, including temperature compensation coefficients, zero-bias compensation values, and calibration factor compensation values. These parameters are obtained through calibration experiments on the sensor under different temperature and environmental conditions. Simultaneously, it checks the connection status of the MEMS inertial measurement sensor module to ensure normal communication and data output. Then, it enters a standby state, ready to receive raw data from the sensor module, including acceleration, angular velocity, and temperature data. Based on the acquired temperature data and the pre-loaded temperature compensation coefficients, it performs temperature compensation on the acceleration and angular velocity data. The temperature compensation coefficients are polynomial functions that describe the relationship between the sensor output and temperature. Through temperature compensation, the module corrects the sensor's output error at different temperatures. The error compensation calibration module reduces measurement deviations caused by temperature changes, making the compensated data closer to the true value and improving the sensor's measurement accuracy. After temperature compensation, the module further corrects the system deviation of the compensated data for the sensor's zero bias and scale factor errors. Zero bias refers to the non-zero value output by the sensor in a static state, and scale factor error refers to the proportional difference between the sensor output and the actual measured value. The module uses pre-calibrated zero bias compensation values ​​to correct the compensated data, eliminating the non-zero output of the sensor in a static state. It also uses pre-calibrated scale factor compensation values ​​to proportionally correct the compensated data, ensuring that the ratio between the sensor output and the actual measured value is consistent. The corrected data serves as the final measurement result for pose calculation and control. After error compensation, the module comprehensively verifies the performance of the MEMS inertial measurement sensor module. By comparing the measurement data before and after compensation, the module evaluates whether the compensation effect meets expectations. The verification process includes checking whether the compensated data is within a reasonable error range and whether it meets the system's accuracy requirements. If the compensation effect does not meet expectations, the compensation parameters are readjusted and the compensation process is repeated. The tilt sensor module measures the tilt angle of the hydraulic support, providing additional attitude information to monitor changes in the support's vertical orientation. It can monitor the tilt state of the hydraulic support in real time, preventing safety accidents caused by excessive tilt. Its high-precision measurement capability (up to 0.01°) provides data support for precise adjustment of the support. The tilt sensor module initializes upon system startup, setting the measurement range and accuracy parameters, and performing internal sensor hardware checks, including verifying the sensor's connection status and calibration parameters to ensure the sensor is in normal working order and can accurately measure the tilt angle of the hydraulic support. The module loads pre-set calibration compensation parameters to correct measurement errors of the tilt sensor module under different temperature and environmental conditions, ensuring measurement accuracy. After initialization, the tilt sensor module enters standby mode, ready to receive external commands to begin data acquisition. Upon receiving a monitoring command, the tilt sensor module enters working mode. The sensor in the tilt sensor module measures the tilt angle of the hydraulic support in real time through its sensitive element, sensing the attitude change of the support in the vertical direction and acquiring tilt angle data including roll and pitch angles. Data is acquired with high precision (up to 0.01°) and high frequency to ensure that minute tilt changes of the hydraulic support can be captured in real time. The acquired tilt angle data is stored in the temporary storage unit of the tilt sensor module, providing a foundation for subsequent data processing. The microprocessor inside the tilt sensor module performs correction and compensation on the tilt angle data. Using pre-loaded calibration compensation parameters, the microprocessor performs temperature compensation and nonlinear correction on the tilt angle data, eliminating measurement errors caused by the sensor under different environmental conditions. Through compensation algorithms, high-precision tilt angle data is ensured under various working conditions, providing reliable data support for the precise adjustment of the hydraulic support. The corrected and compensated tilt angle data is transmitted to the system via a communication interface (SPI, I2C, or RS485). The remote monitoring platform ensures the integrity and real-time nature of the data, enabling the platform to promptly acquire the tilt status of the hydraulic support. Simultaneously, the tilt sensor module synchronizes data with the MEMS inertial measurement sensor module, ensuring that all monitoring data can work collaboratively. This provides comprehensive support for the overall attitude monitoring of the hydraulic support. After completing one data acquisition and transmission cycle, the tilt sensor module returns to standby mode to continue monitoring external commands. The tilt sensor module maintains low power consumption while responding to new monitoring commands or configuration change commands in real time. In standby mode, the tilt sensor module can quickly switch to working mode to continue acquiring and transmitting the tilt angle data of the hydraulic support. The autonomous north-finding algorithm module utilizes a MEMS gyroscope to measure the Earth's rotation angular velocity, autonomously determining the true north direction of the hydraulic support. This provides the initial azimuth angle for the navigation system, solving the problem of lacking external positioning signals in the downhole environment and enabling autonomous navigation. Through a high-precision north-finding algorithm, the module can quickly and accurately determine the support's azimuth, providing a reference for subsequent pose measurements. Initialization involves checking the hardware status of the MEMS gyroscope, including verifying the gyroscope's connection and zero bias within acceptable limits, and loading pre-set north-finding algorithm parameters. After initialization, the autonomous north-finding algorithm module enters standby mode, ready to receive external commands to begin the north-finding operation. Upon receiving a north-finding command, the module controls the MEMS gyroscope to collect data at four preset locations. At each location, the gyroscope measures and records the Earth's rotation angular velocity. The four locations are distributed at 90° intervals to capture the projection of the Earth's rotation angular velocity in different directions. The module then combines the pre-set north-finding algorithm parameters to calculate and analyze the Earth's rotation angular velocity as measured by the MEMS gyroscope. The projection on the measurement axis, combined with the initial attitude information, calculates the true north direction of the hydraulic support. Utilizing the classic four-position north-finding algorithm, the zero bias and scaling factor errors of the gyroscope are effectively suppressed, thus quickly and accurately determining the initial azimuth angle of the support. After the north-finding algorithm is completed, the autonomous north-finding algorithm module outputs the initial azimuth angle of the hydraulic support, i.e., the true north direction, and verifies the output initial azimuth angle to ensure it meets the expected accuracy and range. After successful verification, the initial azimuth angle of the hydraulic support serves as the reference for the navigation system. The verification process includes checking whether the azimuth angle is within a reasonable error range and whether it is consistent with the known reference direction. After completing the output and verification of the initial azimuth angle, the autonomous north-finding algorithm module synchronizes the north-finding result to the remote monitoring platform to ensure the data consistency and accuracy of the entire navigation system. Simultaneously, the autonomous north-finding algorithm module enters standby mode, continuing to monitor external commands and preparing for the next north-finding operation. Furthermore, the autonomous north-finding algorithm module continuously monitors the working status and data quality of the MEMS gyroscope to ensure that the north-finding algorithm can be executed quickly and accurately when needed. Furthermore, the expression for calculating the true north direction of the hydraulic support is as follows: ; In the formula, This is the true north direction of the hydraulic support. To obtain the Earth's rotational angular velocity measured at the i-th position, the Earth's rotational angular velocity is measured at four positions (0°, 90°, 180°, 270°). The measured angular velocities are summed in order of position, and multiplied by the corresponding sign (alternating positive and negative). The sum is used as the numerator, and the product of the sum and the cosine function is used as the denominator. The true north direction is then calculated using the arctangent function. The range of values ​​is When the initial azimuth angle of the hydraulic support approaches true north, The value approaches 0 when the initial azimuth angle of the hydraulic support deviates from true north. The value is increased or decreased accordingly to indicate the correct direction; The data transmission and communication module is used to transmit the data collected by the MEMS inertial measurement sensor module and tilt sensor module to the ground control system or remote monitoring platform, realizing real-time data interaction between downhole equipment and the ground control center, supporting remote monitoring and automated control, and ensuring the real-time performance and reliability of the data through a stable communication link. The electro-hydraulic control system module is used to connect with the hydraulic system of the hydraulic support. Based on the pose information provided by the sensor, it performs pose calculation, data storage and dynamic display, and automatically adjusts the hydraulic support. It can adjust the angle, position and pushing process of the support in real time to ensure the stability and safety of the hydraulic support on the working surface. The remote monitoring and alarm module is used to visualize the real-time monitored data on the remote monitoring platform and set alarm thresholds. When the posture is abnormal, an alarm is issued. Through intuitive data visualization, users can more easily understand the posture information of the hydraulic support, respond to abnormal situations in a timely manner, and prevent safety accidents from occurring.

[0020] Example 2, as Figure 2 As shown, based on Embodiment 1, the present invention provides a technical solution: Preferably, the electro-hydraulic control system module specifically includes: The electro-hydraulic control system module establishes a communication connection with the hydraulic system of the hydraulic support, performs system initialization, and checks the connection status of each component of the hydraulic system, including whether the solenoid valves and cylinders are properly connected and in an operable state. Simultaneously, it loads preset control parameters and safety thresholds to ensure reliable control capability during system startup. After initialization, the electro-hydraulic control system module enters a standby state to receive pose information from sensors. The module receives pose data from the MEMS inertial measurement sensor module and the tilt sensor module, including the acceleration, angular velocity, and tilt angle information of the hydraulic support. The microprocessor inside the electro-hydraulic control system module performs pose calculation on the pose data, determining the current support posture and position information. Based on the calculated current support posture and position information, combined with preset parameters... The system sets control parameters and safety thresholds to determine whether the current support posture meets the standard. If an abnormal posture is detected, the electro-hydraulic control system module will automatically trigger the corresponding adjustment command. By adjusting the pressure and flow of the hydraulic cylinder through the solenoid valve, the angle and position of the hydraulic support will be automatically adjusted. At the same time, the pushing process of the hydraulic support will be adjusted to ensure the stability and safety of the hydraulic support on the working surface and prevent safety accidents caused by abnormal posture. The electro-hydraulic control system module will transmit the calculated posture information and the adjusted status to the remote monitoring platform in real time for dynamic display, so that the operator can understand the working status of the support at any time. After completing an automatic adjustment and data transmission, the electro-hydraulic control system module returns to the standby state and continues to monitor the posture information provided by the sensor to respond to new monitoring commands or configuration change commands to ensure the continuous and stable operation of the system. Furthermore, the current formula for calculating the stent's attitude and position information is as follows: ; ; In the formula, The current attitude angle of the support. Let J be the acceleration at time j. Let be the angular velocity at time j. Let J be the tilt angle at time j. Let j be the time of the j-th moment. Here, is the attenuation coefficient, used to describe the decay of acceleration and angular velocity over time, and x is the current displacement of the support. The initial position, Let m be the initial velocity, and m be the total number of data samples. The range of values ​​is ,when and When it is larger, The value will increase; when and When smaller, The value will decrease, attenuation coefficient The introduction of and It gradually decays over time, reflecting the dynamic changes of the system. x increases with time t, when When x is large, the rate of change is faster. When the value is small, the rate of change of x is slow, and the decay coefficient is small. The introduction of this factor gradually weakens the influence of acceleration on displacement, reflecting the dynamic changes of the system. The remote monitoring and alarm module specifically includes: The remote monitoring and alarm module receives real-time monitoring data from the MEMS inertial measurement sensor module, tilt sensor module, and electro-hydraulic control system module. It then analyzes the received data to extract key information including the hydraulic support's acceleration, angular velocity, tilt angle, and position. This analyzed data is then visualized on the remote monitoring platform, presenting the hydraulic support's attitude information through charts, graphs, and real-time data streams. Users can set corresponding alarm thresholds on the remote monitoring platform based on the hydraulic support's normal operating range and safety standards. Real-time monitoring data is then monitored according to these preset thresholds to determine if the support's attitude is abnormal. When the real-time monitoring data exceeds the preset alarm threshold, the remote monitoring and alarm module triggers the alarm mechanism and sends alarm information. Alarm methods include visual alarms (flashing red alarm lights, pop-up warning windows) and audible alarms (alarm sounds). The alarm information includes the specific details of the anomaly, the time and location of the anomaly, and is recorded in the system log for subsequent analysis and tracing. Upon receiving the alarm, users can review the alarm information on the remote monitoring platform, analyze the cause of the attitude anomaly, and take appropriate measures.

[0021] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A hydraulic support intelligent sensing and monitoring system based on MEMS technology, including a remote monitoring platform, characterized in that: The remote monitoring platform is communicatively connected to a MEMS inertial measurement sensor module, an error compensation and calibration module, a tilt sensor module, an autonomous north-finding algorithm module, a data transmission and communication module, an electro-hydraulic control system module, and a remote monitoring and alarm module. The MEMS inertial measurement sensor module is used to measure the acceleration, angular velocity, and position change of the hydraulic support. The error compensation and calibration module is used to perform error compensation and temperature compensation on the MEMS inertial measurement sensor module. Through the compensation algorithm, it corrects the output error of the sensor at different temperatures. The tilt sensor module is used to measure the tilt angle of the hydraulic support and provide additional attitude information to monitor the attitude changes of the support in the vertical direction. The autonomous north-finding algorithm module is used to measure the Earth's rotation angular velocity using a MEMS gyroscope, autonomously determine the true north direction of the hydraulic support, and provide an initial azimuth angle for the navigation system; The data transmission communication module is used to transmit the data collected by the MEMS inertial measurement sensor module and the tilt sensor module to the ground control system or remote monitoring platform. The electro-hydraulic control system module is used to connect to the hydraulic system of the hydraulic support, and to perform pose calculation, data storage and dynamic display based on the pose information provided by the sensor, and to automatically adjust the hydraulic support. The remote monitoring alarm module is used to visualize the real-time monitored data on the remote monitoring platform and set alarm thresholds to issue an alarm when the posture is abnormal.

2. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 1, characterized in that: The MEMS inertial measurement sensor module specifically includes: When the system starts up, the MEMS inertial measurement sensor module performs initialization operations and checks the hardware of the sensors, including the MEMS accelerometer, gyroscope and displacement sensor. After initialization, the MEMS inertial measurement sensor module enters standby mode, ready to receive external commands to start data acquisition. Upon receiving the command to start monitoring, the MEMS inertial measurement sensor module enters the working state. The MEMS accelerometer, gyroscope and displacement sensor in it sense the acceleration and angular velocity changes of the hydraulic support through their respective sensitive elements. The MEMS accelerometer is used to measure the acceleration of the support in three directions, the gyroscope measures the rotational speed of the support around three axes, and the displacement sensor data provides the displacement data of the support. The microprocessor inside the MEMS inertial measurement sensor module filters the data and performs preliminary format conversion and standardization. The calibration procedure is initiated, and the error compensation algorithm of the error compensation calibration module is used to perform error compensation and temperature compensation on the raw data collected by the MEMS inertial measurement sensor module to eliminate the zero bias, scale factor error and non-orthogonal error of the sensor under static conditions. The calibrated and compensated data is output in the form of a digital signal and transmitted to the system's remote monitoring platform through a communication interface. After completing one data acquisition and transmission, the MEMS inertial measurement sensor module returns to standby mode to continue monitoring external commands. Once a new monitoring command or configuration change command is received, it responds and executes the corresponding operation.

3. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 2, characterized in that: The error compensation calibration module specifically includes: The error compensation calibration module loads pre-stored compensation parameters, including temperature compensation coefficient, zero bias compensation value, and scale factor compensation value. At the same time, it detects the connection status of the MEMS inertial measurement sensor module and then enters standby mode to prepare to receive raw data from the sensor. It receives raw data from the MEMS inertial measurement sensor module, including acceleration, angular velocity and temperature data, and performs temperature compensation on the acceleration and angular velocity data based on the collected temperature data and a pre-loaded temperature compensation coefficient. After temperature compensation is completed, the error compensation calibration module further corrects the system deviation of the compensated data for the zero bias and scale factor errors of the sensor. After error compensation is completed, the error compensation calibration module performs a comprehensive verification of the performance of the MEMS inertial measurement sensor module. By comparing the measurement data before and after compensation, it evaluates whether the compensation effect has met expectations. If the compensation effect has not met expectations, the compensation parameters are readjusted and the compensation process is repeated.

4. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 3, characterized in that: The tilt sensor module specifically includes: The tilt sensor module initializes upon system startup, sets the measurement range and accuracy parameters, and performs internal sensor hardware checks, including verifying the sensor's connection status and calibration parameters. Simultaneously, the tilt sensor module loads pre-set calibration compensation parameters to correct measurement errors under different temperature and environmental conditions. After initialization, the tilt sensor module enters standby mode, ready to receive external commands to begin data acquisition. Upon receiving a monitoring command, the tilt sensor module enters the working state. The sensor in the tilt sensor module measures the tilt angle of the hydraulic support in real time through its sensitive element, senses the attitude change of the support in the vertical direction, acquires tilt angle data including roll angle and pitch angle, and stores the acquired tilt angle data in the temporary storage unit of the tilt sensor module. The tilt angle data is corrected and compensated by the microprocessor inside the tilt angle sensor module. Using pre-loaded calibration compensation parameters, the microprocessor performs temperature compensation and nonlinear correction on the tilt angle data. After correction and compensation, the tilt angle data is transmitted to the system's remote monitoring platform through the communication interface. At the same time, the tilt sensor module and the MEMS inertial measurement sensor module synchronize their data. After completing one data acquisition and transmission cycle, the tilt sensor module returns to standby mode to continue monitoring external commands and responding in real time to new monitoring commands or configuration change commands. In standby mode, the tilt sensor module can quickly switch to working mode to continue acquiring and transmitting tilt angle data of the hydraulic support.

5. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 4, characterized in that: The autonomous north-finding algorithm module specifically includes: The initialization process involves checking the hardware status of the MEMS gyroscope, including verifying the gyroscope's connection and whether the zero bias is within acceptable limits. It also loads the pre-set north-finding algorithm parameters. Once initialization is complete, the autonomous north-finding algorithm module enters standby mode, ready to receive external commands and begin the north-finding operation. Upon receiving the north-finding command, the autonomous north-finding algorithm module controls the MEMS gyroscope to collect data at four preset positions. At each position, the gyroscope measures the Earth's rotational angular velocity and records the data. The four positions are distributed at 90° intervals to capture the projection of the Earth's rotational angular velocity in different directions. The true north direction of the hydraulic support is calculated by combining the pre-set north-finding algorithm parameters and analyzing the projection of the Earth's rotation angular velocity onto the MEMS gyroscope measurement axis, and by combining the initial attitude information. After the north-finding algorithm is completed, the autonomous north-finding algorithm module outputs the initial azimuth angle of the hydraulic support, i.e. the true north direction, and verifies the output initial azimuth angle of the hydraulic support. After the verification is passed, the initial azimuth angle of the hydraulic support is used as the reference of the navigation system. After completing the output and verification of the initial azimuth angle, the autonomous north-finding algorithm module synchronizes the north-finding result to the remote monitoring platform. At the same time, the autonomous north-finding algorithm module enters standby mode, continues to monitor external commands, and prepares to perform the next north-finding operation.

6. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 5, characterized in that: The expression for calculating the true north direction of the hydraulic support is as follows: ； In the formula, This is the true north direction of the hydraulic support. Let be the Earth's rotational angular velocity measured at position i. The range of values ​​is When the initial azimuth angle of the hydraulic support approaches true north, The value approaches 0.

7. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 6, characterized in that: The electro-hydraulic control system module specifically includes: The electro-hydraulic control system module establishes a communication connection with the hydraulic system of the hydraulic support, performs system initialization operations, detects the connection status of each component of the hydraulic system, including whether the solenoid valves and cylinders are properly connected and in an operable state, and loads preset control parameters and safety thresholds. After initialization, the electro-hydraulic control system module enters a standby state to receive position information provided by the sensors. The electro-hydraulic control system module receives pose data from the MEMS inertial measurement sensor module and the tilt sensor module. The pose data includes the acceleration, angular velocity and tilt angle information of the hydraulic support. The microprocessor inside the electro-hydraulic control system module performs pose calculation on the pose data to calculate the current support attitude and position information. Based on the calculated current support posture and position information, combined with preset control parameters and safety thresholds, it is determined whether the current support posture meets the standard. If an abnormal posture is found, the electro-hydraulic control system module will automatically trigger the corresponding adjustment command, adjust the pressure and flow of the hydraulic cylinder through the solenoid valve, and automatically adjust the angle and position of the hydraulic support, while adjusting the pushing process of the hydraulic support. The electro-hydraulic control system module transmits the calculated pose information and adjusted status to the remote monitoring platform in real time for dynamic display. After completing an automatic adjustment and data transmission, the electro-hydraulic control system module returns to standby mode and continues to monitor the pose information provided by the sensors in response to new monitoring commands or configuration change commands.

8. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 7, characterized in that: The calculation expression for the current stent attitude and position information is as follows: ； ； In the formula, The current attitude angle of the support. Let J be the acceleration at time j. Let be the angular velocity at time j. Let J be the tilt angle at time j. Let j be the time of the j-th moment. Here, x is the attenuation coefficient, and x is the current displacement of the stent. The initial position, Let m be the initial velocity, and m be the total number of data samples. The range of values ​​is .

9. The intelligent sensing and monitoring system for hydraulic supports based on MEMS technology according to claim 8, characterized in that: The remote monitoring and alarm module specifically includes: The remote monitoring and alarm module receives real-time monitoring data from the MEMS inertial measurement sensor module, tilt sensor module, and electro-hydraulic control system module, and analyzes the received data to extract key information including the acceleration, angular velocity, tilt angle, and position information of the hydraulic support. The parsed data is visualized through a remote monitoring platform, and the attitude information of the hydraulic support is presented in the form of charts, graphs and real-time data streams. Users set corresponding alarm thresholds on the remote monitoring platform according to the normal working range and safety standards of the hydraulic support, and monitor the real-time monitoring data according to the preset alarm thresholds to determine whether the support posture is abnormal. When real-time monitoring data exceeds the preset alarm threshold, the remote monitoring alarm module triggers the alarm mechanism and sends alarm information. The alarm methods include visual alarms and audible alarms. The alarm information includes the specific content of the anomaly, the time and location of the anomaly, and the alarm information is recorded in the system log. After receiving the alarm, the user can view the alarm information on the remote monitoring platform, analyze the cause of the abnormal posture, and take corresponding measures.

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