A hydraulic support device suitable for complex geological conditions and a control system and method thereof

Abstract

The application discloses a hydraulic support device suitable for complex geological conditions and a control system and method thereof, relates to the technical field of coal mining equipment, and aims to solve the problems of insufficient overall stability of traditional roof supporting equipment and incomplete load monitoring coverage. Specifically, the device comprises a base, a stand column, a hydraulic spherical hinge, a roof beam, a hydraulic telescopic wing plate and corresponding installed sensors, the control system is additionally provided with an intelligent cooperative control module and corresponding sensor connection, data of each component is collected, and the device posture is adjusted and early warning is performed after data analysis and processing. The control method comprises the steps of data collection, data processing, control adjustment and early warning. The application improves the supporting stability and monitoring comprehensiveness and guarantees mining safety through the above method.

Description

Technical Field

[0001] This invention belongs to the field of coal mining equipment technology, specifically relating to a hydraulic support device suitable for complex geological conditions, and its control system and method. Background Technology

[0002] Currently, coal mining is gradually moving towards deeper and more complex geological conditions. The proportion of mining of steeply dipped coal seams (usually referring to coal seams with a dip angle greater than 35°) is increasing year by year. However, such coal seams are greatly affected by geological structures and generally suffer from large fluctuations in the dip angle, poor stability of the roof and floor strata, and severe and uneven distribution of mine pressure. Therefore, the roof support equipment used in the mining process needs to have reliable support strength and be adapted to the dynamically changing geological environment.

[0003] However, existing traditional roof support equipment is difficult to meet the above requirements: on the one hand, the overall stability of the support is insufficient, and under the action of gravity component force at large inclination angle and dynamic mine pressure, it is easy to slip, tilt and instability problems occur; on the other hand, traditional equipment adopts a single-point monitoring mode, which can only obtain pressure or attitude data of local area, and cannot achieve full-area coverage monitoring of top beam load distribution, base anchorage status and overall posture of support.

[0004] Chinese patent application CN 116658226 A discloses an intelligent hydraulic support, characterized by comprising: a top beam, columns, a base, and a pressure sensor; the top beam includes a main beam and two secondary beams, both configured as an inverted U-shape; the two secondary beams are respectively disposed at the front and rear of the main beam and connected by a movable jack; the columns are sequentially divided into a bottom column, a middle column, and a top column from bottom to top, and are sequentially contained within each other; when the lower column contains the upper column, the lower column has a pre-set telescopic area inside; the base consists of a central main base and movable bases on both sides of the main base, and the movable bases are connected to the main base by rotating pulleys for movement; the base is connected to the top beam via the columns; the columns on the main base are integrally connected to the main base, and the columns on the movable bases are integrally and movably connected to the movable bases; the pressure sensor is disposed on the top beam and is used to detect the roadway load on the intelligent hydraulic support in real time during operation. The existing technology has the following drawbacks: insufficient stability assurance and incomplete load monitoring coverage. These are the shortcomings of the existing technology.

[0005] In view of this, it is very necessary to provide a hydraulic support device and its control system and method suitable for complex geological conditions to solve the above-mentioned defects in the prior art. Summary of the Invention

[0006] To address the technical problems of insufficient stability of support equipment and incomplete load monitoring coverage in existing technologies, this invention provides a hydraulic support device, its control system, and method suitable for complex geological conditions, thereby solving the aforementioned technical problems.

[0007] In a first aspect, the present invention provides a hydraulic support device suitable for complex geological conditions, comprising a base, a column, a hydraulic ball joint, and a top beam. The base is equipped with a hydraulic telescopic wing plate, and an attitude sensor is installed at the upper end of the base. The hydraulic telescopic wing plate includes a hydraulic telescopic component and a wedge-shaped toothed plate. The hydraulic telescopic wing plate is equipped with a wireless pressure sensor and a displacement sensor. The fixed end of the hydraulic telescopic component is connected to the base, and the telescopic end of the hydraulic telescopic component is connected to the wedge-shaped toothed plate for embedding into the rock strata. The lower end of the column is connected to the base, and the upper end of the column is connected to the bottom of the top beam through a hydraulic ball joint. The column is equipped with a hydraulic pressure sensor, and the hydraulic ball joint is equipped with an attitude sensor. An attitude sensor is installed at the bottom of the top beam, and multiple fiber optic pressure sensors are installed at the top of the top beam.

[0008] Secondly, the present invention also provides a hydraulic support device control system suitable for complex geological conditions, including a base, a column, a hydraulic ball joint, and a top beam. The control system further includes: The base is equipped with a hydraulic telescopic wing plate, and an attitude sensor is installed at the upper end of the base. The hydraulic telescopic wing plate includes a hydraulic telescopic component and a wedge-shaped toothed plate. The hydraulic telescopic wing plate is equipped with a wireless pressure sensor and a displacement sensor. The attitude sensor installed on the upper part of the base is used to collect three-dimensional attitude data of the base under complex geological conditions in real time. The three-dimensional attitude data specifically includes the tilt angle, horizontal displacement and vibration frequency of the base. The wireless pressure sensor installed on the hydraulic telescopic wing plate is used to collect dynamic pressure data of the contact interface between the wedge-shaped toothed plate and the rock layer in real time. The dynamic pressure data specifically includes the contact pressure value, pressure change rate and pressure distribution uniformity. The displacement sensor is used to collect the extension and retraction length data and extension rate data of the hydraulic telescopic component in real time.

[0009] The fixed end of the hydraulic telescopic component is connected to the base, and the telescopic end of the hydraulic telescopic component is connected to the wedge-shaped toothed plate. The lower end of the column is connected to the base, and the upper end of the column is connected to the bottom of the top beam through a hydraulic ball joint. The column is equipped with a hydraulic pressure sensor, and the hydraulic ball joint is equipped with an attitude sensor. The hydraulic pressure sensor mounted on the column is used to monitor the dynamic pressure parameters in the column's hydraulic circuit in real time. The dynamic pressure parameters specifically include the working pressure value inside the column, the pressure pulsation frequency, and the pressure duration. The attitude sensor mounted on the hydraulic ball joint is used to collect the bidirectional attitude dynamic data of the hydraulic ball joint in real time. The bidirectional attitude dynamic data specifically includes the pitch angle and the yaw angle.

[0010] An attitude sensor is installed at the bottom of the top beam, and multiple fiber Bragg grating pressure sensors are installed at the top of the top beam, forming a fiber Bragg grating pressure sensor array in a certain arrangement. An attitude sensor installed at the bottom of the top beam is used to collect the three-dimensional attitude dynamic parameters of the top beam in real time, specifically including the longitudinal tilt angle, lateral tilt angle and horizontal offset of the top beam. A fiber optic pressure sensor array installed at the top of the top beam is used to monitor the global load distribution data of the contact interface between the top beam and the top plate in real time. The global load distribution data includes the contact pressure value, pressure gradient change and dynamic load response.

[0011] The intelligent collaborative control module is connected to the attitude sensor, wireless pressure sensor, hydraulic pressure sensor and fiber optic grating pressure sensor respectively.

[0012] The intelligent collaborative control module includes a data acquisition unit, a data processing unit, a control unit, and an early warning unit. The data acquisition unit is connected to the attitude sensor, wireless pressure sensor, hydraulic pressure sensor and fiber optic grating pressure sensor respectively, and is used to collect data from the components on which each sensor is installed in real time. The data processing unit is connected to the data acquisition unit and is used to analyze and process the acquired data; The control unit is connected to the data processing unit and is used to adjust the attitude of the hydraulic telescopic wing plate, column and hydraulic ball joint according to the processed data results; The control unit includes an adaptive leveling algorithm subunit, an intelligent anchoring algorithm subunit, and an instability prediction algorithm subunit. The adaptive leveling algorithm subunit is used to receive real-time data from the attitude sensor mounted on the base, the attitude sensor mounted on the hydraulic ball joint, the attitude sensor mounted on the lower end of the top beam, and the fiber optic pressure sensor mounted on the upper end of the top beam. It calculates the pitch and yaw adjustment of the hydraulic ball joint, ensures adjustment safety through range verification and load prediction verification, and then outputs control signals to adjust the hydraulic ball joint action. The intelligent anchoring algorithm subunit is used to receive real-time data from the attitude sensor mounted on the base, the wireless pressure sensor and displacement sensor mounted on the hydraulic telescopic wing plate, and to control the extension length and anchoring force of the hydraulic telescopic wing plate. The instability prediction algorithm subunit is used to calculate the anti-slip and anti-overturning safety factors of the device suitable for complex geological conditions, and sends an early warning signal to the early warning unit when the factor is lower than the safety threshold; The early warning unit is connected to the data processing unit and is used to issue an early warning signal when the monitored data exceeds a preset threshold.

[0013] Thirdly, the technical solution of the present invention also provides a control method for a hydraulic support device suitable for complex geological conditions. The hydraulic support device includes a base, a column, a hydraulic ball joint, and a top beam. The base is equipped with a hydraulic telescopic wing plate, and an attitude sensor is installed at the upper end of the base. The hydraulic telescopic wing plate includes a hydraulic telescopic component and a wedge-shaped toothed plate. The hydraulic telescopic wing plate is equipped with a wireless pressure sensor and a displacement sensor. The fixed end of the hydraulic telescopic component is connected to the base, and the telescopic end of the hydraulic telescopic component is connected to the wedge-shaped toothed plate. The lower end of the column is connected to the base, and the upper end of the column is connected to the bottom of the top beam through a hydraulic ball joint. The column is equipped with a hydraulic pressure sensor, and the hydraulic ball joint is equipped with an attitude sensor. An attitude sensor is installed at the bottom of the top beam, and multiple fiber Bragg grating pressure sensors are installed at the top of the top beam, forming a fiber Bragg grating pressure sensor array in a certain arrangement.

[0014] The control method includes the following steps: Step S1: The data acquisition step, used to collect data from each component; Step S2: The data processing step involves analyzing and processing the collected data from each component. Step S3: The control and adjustment step, used to adjust the posture of the hydraulic telescopic plate, column and hydraulic ball joint based on the processed data results; Step S4: The warning step, used to issue a warning signal when the monitored data exceeds a preset threshold.

[0015] Step S3 includes the following steps: Step S31: The adaptive adjustment step is used to receive real-time data from the attitude sensor mounted on the base, the attitude sensor mounted on the hydraulic ball joint, the attitude sensor mounted on the lower end of the top beam, and the fiber optic pressure sensor mounted on the upper end of the top beam, calculate the pitch and yaw adjustment of the hydraulic ball joint, ensure adjustment safety through range verification and load prediction verification, and then output control signals to adjust the hydraulic ball joint action. Step S32: The intelligent anchoring step is used to receive real-time data from the attitude sensor mounted on the base, the wireless pressure sensor and displacement sensor mounted on the hydraulic telescopic wing plate, and to control the extension length and anchoring force of the hydraulic telescopic wing plate. Step S33: Instability prediction step, used to calculate the anti-slip and anti-overturning safety factors of the device suitable for complex geological conditions, and send an early warning signal when the factor is lower than the safety threshold; The beneficial effects of this invention are as follows: This invention provides a hydraulic support device and its control system and method suitable for complex geological conditions. It solves the instability problem of traditional supports through a dual stabilization design of hydraulic ball joints and hydraulic telescopic wing plates. On one hand, the hydraulic ball joints can achieve bidirectional pitch and yaw angle adjustment. Combined with attitude sensors at the bottom of the top beam and the base, it can correct the contact deviation between the top beam and the roof plate in real time, avoiding deformation of the top beam or tilting of the support due to localized load concentration, thus improving the uniformity of pressure distribution on the top beam. On the other hand, the hydraulic telescopic wing plates can adaptively adjust the extension length and anchoring force according to the hardness of the rock strata, effectively resisting the slippage risk caused by the gravity component at large inclination angles. By installing multiple fiber optic pressure sensor arrays at the upper end of the top beam, it can transmit load data across the entire top beam area in real time, accurately capturing the dynamic change trend of mine pressure on the top and bottom plates. The intelligent collaborative control module quickly identifies areas of abnormal load based on the collected data, predicting the risk of sudden changes in mine pressure in advance, thus solving the problem of missing local risks in single-point monitoring of traditional equipment.

[0016] Furthermore, the design principle of this invention is reliable, the structure is simple, and it has a very wide range of application prospects. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a structural diagram of a hydraulic support device suitable for complex geological conditions provided by the present invention.

[0019] Figure 2 This is a schematic diagram of a hydraulic support device control system suitable for complex geological conditions provided by the present invention.

[0020] Figure 3 This is a flowchart of a control method for a hydraulic support device suitable for complex geological conditions, provided by the present invention. Detailed Implementation

[0021] To enable those skilled in the art to better understand the technical solutions of this invention, the technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of this invention.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

[0023] Example 1: like Figure 1 As shown, this embodiment of the invention provides a hydraulic support device suitable for complex geological conditions, including a base 1, a column 2, a hydraulic ball joint 3, and a top beam 4. The device also includes: The base 1 is equipped with a hydraulic telescopic wing plate 5, and an attitude sensor is installed at the upper end of the base 1. The hydraulic telescopic wing plate 5 includes a hydraulic telescopic component 51 and a wedge-shaped toothed plate 52. The hydraulic telescopic wing plate 5 is equipped with a wireless pressure sensor and a displacement sensor. The fixed end of the hydraulic telescopic component 51 is connected to the base 1, and the telescopic end of the hydraulic telescopic component 51 is connected to the wedge-shaped toothed plate 52 for embedding into the rock strata. The lower end of the column 2 is connected to the base 1, and the upper end of the column 2 is connected to the lower end of the top beam 4 through the hydraulic ball joint 3. The column 2 is equipped with a hydraulic pressure sensor, and the hydraulic ball joint 3 is equipped with an attitude sensor. For example, column 2 is a hydraulic telescopic rod.

[0024] An attitude sensor is installed at the bottom of the top beam 4, and multiple fiber optic pressure sensors are installed at the top of the top beam 4.

[0025] Example 2: like Figure 1 and Figure 2 As shown, this embodiment also provides a hydraulic support device control system suitable for complex geological conditions, including a base 1, a column 2, a hydraulic ball joint 3, and a top beam 4. The control system also includes: The base 1 is equipped with a hydraulic telescopic wing plate 5, and an attitude sensor is installed at the upper end of the base 1. The hydraulic telescopic wing plate 5 includes a hydraulic telescopic component 51 and a wedge-shaped toothed plate 52. The hydraulic telescopic wing plate 5 is equipped with a wireless pressure sensor and a displacement sensor. The attitude sensor installed on the upper end of the base 1 is used to collect three-dimensional attitude data of the base 1 under complex geological conditions in real time. The three-dimensional attitude data specifically includes the tilt angle, horizontal displacement and vibration frequency of the base 1. The wireless pressure sensor installed on the hydraulic telescopic wing plate 5 is used to collect dynamic pressure data of the contact interface between the wedge toothed plate 52 and the rock layer in real time. The dynamic pressure data specifically includes the contact pressure value, pressure change rate and pressure distribution uniformity. The displacement sensor is used to collect the extension and retraction length data and extension rate data of the hydraulic telescopic component in real time.

[0026] The fixed end of the hydraulic telescopic component 51 is connected to the base 1, and the telescopic end of the hydraulic telescopic component 51 is connected to the wedge-shaped toothed plate 52. The lower end of the column 2 is connected to the base 1, and the upper end of the column 2 is connected to the lower end of the top beam 4 through the hydraulic ball joint 3. The column 2 is equipped with a hydraulic pressure sensor, and the hydraulic ball joint 3 is equipped with an attitude sensor. For example, column 2 is a hydraulic telescopic rod.

[0027] The hydraulic pressure sensor installed on column 2 is used to monitor the dynamic pressure parameters in the hydraulic circuit of the column in real time. The dynamic pressure parameters specifically include the working pressure value inside the column, the pressure pulsation frequency, and the pressure duration. The attitude sensor installed on hydraulic ball joint 3 is used to collect bidirectional attitude dynamic data of hydraulic ball joint in real time. The bidirectional attitude dynamic data specifically includes pitch angle and yaw angle.

[0028] An attitude sensor is installed at the lower end of the top beam 4, and multiple fiber Bragg grating pressure sensors are installed at the upper end of the top beam 4, forming a fiber Bragg grating pressure sensor array in a certain arrangement. The attitude sensor installed at the bottom of the top beam 4 is used to collect the three-dimensional attitude dynamic parameters of the top beam 4 in real time, specifically including the longitudinal tilt angle, lateral tilt angle and horizontal offset of the top beam 4. The fiber optic pressure sensor array installed at the top of the top beam 4 is used to monitor the global load distribution data of the contact interface between the top beam and the top plate in real time. The global load distribution data includes the contact pressure value, pressure gradient change and dynamic load response.

[0029] The intelligent collaborative control module 6 is connected to the attitude sensor, the wireless pressure sensor, the hydraulic pressure sensor, and the fiber optic grating pressure sensor.

[0030] The intelligent collaborative control module 6 includes a data acquisition unit 61, a data processing unit 62, a control unit 63, and an early warning unit 64. The data acquisition unit 61 is connected to the attitude sensor, wireless pressure sensor, hydraulic pressure sensor and fiber optic pressure sensor respectively, and is used to collect data from the components on which each sensor is installed in real time. The data processing unit 62 is connected to the data acquisition unit 61 and is used to analyze and process the acquired data; The control unit 63 is connected to the data processing unit 62 and is used to adjust the attitude of the hydraulic telescopic wing plate 5, the column 2 and the hydraulic ball joint 3 according to the processed data results. The control unit 63 includes an adaptive leveling algorithm subunit 631, an intelligent anchoring algorithm subunit 632, and an instability prediction algorithm subunit 633. The adaptive leveling algorithm subunit 631 is used to receive real-time data from the attitude sensor installed on the base 1, the attitude sensor installed on the hydraulic ball joint 3, the attitude sensor installed on the lower end of the top beam 4, and the fiber optic pressure sensor installed on the upper end of the top beam 4. It calculates the pitch and yaw adjustment of the hydraulic ball joint 3, ensures adjustment safety through range verification and load prediction verification, and then outputs control signals to adjust the action of the hydraulic ball joint 3. The intelligent anchoring algorithm subunit 632 is used to receive real-time data from the attitude sensor installed on the base 1, the wireless pressure sensor and displacement sensor installed on the hydraulic telescopic wing plate 5, and to control the extension length and anchoring force of the hydraulic telescopic wing plate 5. The instability prediction algorithm subunit 633 is used to calculate the anti-slip and anti-overturning safety factors of the device suitable for complex geological conditions, and sends an early warning signal to the early warning unit 64 when the coefficient is lower than the safety threshold. The early warning unit 64 is connected to the control unit 63 and is used to issue an early warning signal when the monitored data exceeds a preset threshold.

[0031] Example 3: like Figure 1 and Figure 3 As shown, this embodiment also provides a control method for a hydraulic support device suitable for complex geological conditions. The hydraulic support device includes a base 1, a column 2, a hydraulic ball joint 3, and a top beam 4. The control method includes: The base 1 is equipped with a hydraulic telescopic wing plate 5, and an attitude sensor is installed at the upper end of the base 1. The hydraulic telescopic wing plate 5 includes a hydraulic telescopic component 51 and a wedge-shaped toothed plate 52. The hydraulic telescopic wing plate 5 is equipped with a wireless pressure sensor and a displacement sensor. The fixed end of the hydraulic telescopic component 51 is connected to the base 1, and the telescopic end of the hydraulic telescopic component 51 is connected to the wedge-shaped toothed plate 52. The lower end of the column 2 is connected to the base 1, and the upper end of the column 2 is connected to the lower end of the top beam 4 through the hydraulic ball joint 3. The column 2 is equipped with a hydraulic pressure sensor, and the hydraulic ball joint 3 is equipped with an attitude sensor. An attitude sensor is installed at the bottom of the top beam 4, and multiple fiber Bragg grating pressure sensors are installed at the top of the top beam 4, forming a fiber Bragg grating pressure sensor array in a certain arrangement.

[0032] The control method includes the following steps: Step S1: The data acquisition step, used to collect data from each component; Step S2: The data processing step involves analyzing and processing the collected data from each component. Step S3: The control and adjustment step, used to adjust the posture of the hydraulic telescopic plate, column and hydraulic ball joint based on the processed data results; Step S4: The warning step, used to issue a warning signal when the monitored data exceeds a preset threshold.

[0033] Step S3 includes the following steps: Step S31: The adaptive adjustment step is used to receive real-time data from the attitude sensor mounted on the base, the attitude sensor mounted on the hydraulic ball joint, the attitude sensor mounted on the lower end of the top beam, and the fiber optic pressure sensor mounted on the upper end of the top beam, calculate the pitch and yaw adjustment of the hydraulic ball joint, ensure adjustment safety through range verification and load prediction verification, and then output control signals to adjust the hydraulic ball joint action. Step S32: The intelligent anchoring step is used to receive real-time data from the attitude sensor mounted on the base, the wireless pressure sensor and displacement sensor mounted on the hydraulic telescopic wing plate, and to control the extension length and anchoring force of the hydraulic telescopic wing plate. Step S33: Instability prediction step, used to calculate the anti-slip and anti-overturning safety factors of the device suitable for complex geological conditions, and send an early warning signal when the factor is lower than the safety threshold.

[0034] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. The methods disclosed in the embodiments are described simply because they correspond to the systems disclosed in the embodiments; relevant details can be found in the method section.

[0035] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0036] In the embodiments provided by this invention, it should be understood that the disclosed systems, methods, and approaches can be implemented in other ways. For example, the system embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between systems or units may be electrical, mechanical, or other forms.

[0037] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0038] In addition, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each module can exist physically separately, or two or more modules can be integrated into one unit.

[0039] Similarly, in the various embodiments of the present invention, each processing unit can be integrated into a functional module, or each processing unit can exist physically, or two or more processing units can be integrated into a functional module.

[0040] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0041] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0042] The above-disclosed embodiments are merely preferred embodiments of the present invention, but the present invention is not limited thereto. Any non-creative variations that can be conceived by those skilled in the art, as well as any improvements and modifications made without departing from the principles of the present invention, should fall within the protection scope of the present invention.

Claims

1. A control system for a hydraulic support device suitable for complex geological conditions, comprising a base, a column, a hydraulic ball joint, and a top beam, characterized in that, The base is equipped with a hydraulic telescopic wing plate, and an attitude sensor is installed at the upper end of the base. The hydraulic telescopic wing plate includes a hydraulic telescopic component and a wedge-shaped toothed plate. The hydraulic telescopic wing plate is equipped with a wireless pressure sensor and a displacement sensor. The fixed end of the hydraulic telescopic component is connected to the base, and the telescopic end of the hydraulic telescopic component is connected to the wedge-shaped toothed plate. The lower end of the column is connected to the base, and the upper end of the column is connected to the bottom of the top beam through a hydraulic ball joint. The column is equipped with a hydraulic pressure sensor, and the hydraulic ball joint is equipped with an attitude sensor. An attitude sensor is installed at the bottom of the top beam, and multiple fiber optic pressure sensors are installed at the top of the top beam. An intelligent collaborative control module is connected to the attitude sensor, wireless pressure sensor, hydraulic pressure sensor and fiber optic pressure sensor respectively. An attitude sensor is installed on the upper end of the base to collect three-dimensional attitude data of the base under complex geological conditions in real time. The three-dimensional attitude data specifically includes the tilt angle, horizontal displacement and vibration frequency of the base. The hydraulic telescopic wing plate is equipped with a wireless pressure sensor to collect dynamic pressure data of the contact interface between the wedge-shaped toothed plate and the rock stratum in real time. The dynamic pressure data specifically includes the contact pressure value, pressure change rate and pressure distribution uniformity. The displacement sensor is used to collect data on the extension and retraction length of the hydraulic telescopic component and the telescopic rate in real time. The column is equipped with a hydraulic pressure sensor to monitor the dynamic pressure parameters in the hydraulic circuit of the column in real time. The dynamic pressure parameters specifically include the working pressure value inside the column, the pressure pulsation frequency, and the pressure duration. The hydraulic ball joint is equipped with an attitude sensor to collect bidirectional attitude dynamic data of the hydraulic ball joint in real time. The bidirectional attitude dynamic data specifically includes pitch angle and yaw angle. An attitude sensor is installed at the bottom of the top beam to collect the three-dimensional attitude dynamic parameters of the top beam in real time, specifically including the longitudinal tilt angle, lateral tilt angle and horizontal offset of the top beam. The top of the top beam is equipped with multiple fiber optic pressure sensors to monitor the global load distribution data of the contact interface between the top beam and the top plate in real time. The global load distribution data includes contact pressure value, pressure gradient change and dynamic load response. The intelligent collaborative control module is used to collect data transmitted from the attitude sensor, wireless pressure sensor, hydraulic pressure sensor and fiber optic pressure sensor in real time, and adjust the attitude of the device according to the monitored real-time data.

2. The hydraulic support device control system suitable for complex geological conditions according to claim 1, wherein, The intelligent collaborative control module includes a data acquisition unit, a data processing unit, a control unit, and an early warning unit.

3. The hydraulic support device control system suitable for complex geological conditions according to claim 2, wherein, The data acquisition unit is connected to the attitude sensor, wireless pressure sensor, hydraulic pressure sensor and fiber optic pressure sensor respectively, and is used to collect data from the components on which each sensor is installed in real time. The data processing unit is connected to the data acquisition unit and is used to analyze and process the acquired data; The control unit is connected to the data processing unit and is used to adjust the attitude of the hydraulic telescopic wing plate, column and hydraulic ball joint according to the processed data results; The early warning unit is connected to the control unit and is used to issue an early warning signal when the monitored data exceeds a preset threshold.

4. The hydraulic support device control system for complex geological conditions according to claim 3, wherein, The control unit includes an adaptive leveling algorithm subunit, an intelligent anchoring algorithm subunit, and an instability prediction algorithm subunit. The adaptive leveling algorithm subunit is used to receive real-time data from the attitude sensor mounted on the base, the attitude sensor mounted on the hydraulic ball joint, the attitude sensor mounted on the lower end of the top beam, and the fiber optic pressure sensor mounted on the upper end of the top beam. It calculates the pitch and yaw adjustment of the hydraulic ball joint, ensures adjustment safety through range verification and load prediction verification, and then outputs control signals to adjust the hydraulic ball joint action. The intelligent anchoring algorithm subunit is used to receive real-time data from the attitude sensor mounted on the base, the wireless pressure sensor and displacement sensor mounted on the hydraulic telescopic wing plate, and to control the extension length and anchoring force of the hydraulic telescopic wing plate. The instability prediction algorithm subunit is used to calculate the anti-slip and anti-overturning safety factors of the device suitable for complex geological conditions, and sends an early warning signal to the early warning unit when the factor is lower than the safety threshold.

5. A hydraulic support device control method suitable for complex geological conditions, characterized by, The control method adopts a hydraulic support device control system suitable for complex geological conditions according to any one of claims 1 to 4. The hydraulic support device includes a base, a column, a hydraulic ball joint, and a top beam. The base is equipped with a hydraulic telescopic wing plate, and an attitude sensor is installed at the upper end of the base. The hydraulic telescopic wing plate includes a hydraulic telescopic component and a wedge-shaped toothed plate. The hydraulic telescopic wing plate is equipped with a wireless pressure sensor and a displacement sensor. The fixed end of the hydraulic telescopic component is connected to the base, and the telescopic end of the hydraulic telescopic component is connected to the wedge-shaped toothed plate. The lower end of the column is connected to the base, and the upper end of the column is connected to the bottom of the top beam through a hydraulic ball joint. The column is equipped with a hydraulic pressure sensor, and the hydraulic ball joint is equipped with an attitude sensor. An attitude sensor is installed at the bottom of the top beam, and multiple fiber optic pressure sensors are installed at the top of the top beam. The control method includes the following steps: Step S1: The data acquisition step, used to collect data from each component; Step S2: The data processing step involves analyzing and processing the collected data from each component. Step S3: The control and adjustment step, used to adjust the posture of the hydraulic telescopic plate, column and hydraulic ball joint based on the processed data results; Step S4: The warning step, used to issue a warning signal when the monitored data exceeds a preset threshold.

6. The hydraulic support device control method for complex geological conditions according to claim 5, wherein, In step S1, the data from each component includes data collected from the upper end of the base, the hydraulic ball joint, the attitude sensor installed at the bottom of the top beam, the wireless pressure sensor installed on the hydraulic telescopic wing plate, the hydraulic pressure sensor installed on the column, and the fiber optic grating pressure sensor installed at the top of the top beam.

7. The hydraulic support device control method for complex geological conditions according to claim 6, wherein, Step S3: The control adjustment step includes the following steps: Step S31: The adaptive adjustment step is used to receive real-time data from the attitude sensor mounted on the base, the attitude sensor mounted on the hydraulic ball joint, the attitude sensor mounted on the lower end of the top beam, and the fiber optic pressure sensor mounted on the upper end of the top beam, calculate the pitch and yaw adjustment of the hydraulic ball joint, ensure adjustment safety through range verification and load prediction verification, and then output control signals to adjust the hydraulic ball joint action. Step S32: The intelligent anchoring step is used to receive real-time data from the attitude sensor mounted on the base, the wireless pressure sensor and displacement sensor mounted on the hydraulic telescopic wing plate, and to control the extension length and anchoring force of the hydraulic telescopic wing plate. Step S33: Instability prediction step, used to calculate the anti-slip and anti-overturning safety factors of the device suitable for complex geological conditions, and send an early warning signal when the factor is lower than the safety threshold.

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