Hydraulic support safety control method, device and system based on motion state of remote controller

Abstract

The invention relates to the technical field of fully mechanized coal mining face safety protection, and discloses a hydraulic support safety control method based on the motion state of a remote controller. The hydraulic support safety control method comprises the steps that the current use state and the current personnel motion state of a remote controller body are determined according to the current remote controller motion state and the historical remote controller motion state of the remote controller body; determining a current personnel safety risk state according to the current use state and the current personnel motion state; under the condition that the current personnel safety risk state meets the safety protection condition, a channel for transmitting a control instruction to the controlled hydraulic support is cut off; broadcasting the information that the risk event exists; all the hydraulic supports in the preset areas on the two sides of the remote controller body are in a locked state. By means of the hydraulic support safety control method, personnel operating the hydraulic support through the remote controller can be protected to the maximum extent. The invention further discloses a hydraulic support safety control device and system based on the motion state of the remote controller.

Description

Technical Field

[0001] This application relates to the field of safety protection technology for fully mechanized mining faces, specifically to a method, device, and system for safety control of hydraulic supports based on the motion state of a remote controller. Background Technology

[0002] Hydraulic supports are the only support equipment in fully mechanized mining faces, and their core functions include:

[0003] ① Roof support: Forms a stable support structure at the coal mining face to prevent large-scale roof collapse and ensure operational safety;

[0004] ② Conveyor pushing: Linked with the scraper conveyor, the hydraulic system pushes and moves the support to achieve automatic forward movement of the support, ensuring that the conveying equipment keeps pace with the coal mining machine operation;

[0005] ③ Height adjustment: The height of the support can be dynamically adjusted by the column and the balance hydraulic cylinder to adapt to different coal seam thicknesses and geological conditions;

[0006] ④ Working face protection: By extending and retracting side protection, the risk of safety accidents such as roof collapse and side fall is reduced, thereby improving coal mining efficiency and the safety of the working environment.

[0007] Due to the layout of auxiliary production equipment such as communication cables, liquid supply pipelines, water supply pipelines, lighting cables, electro-hydraulic control equipment and sensors at the working face, coupled with the limited area of ​​the hydraulic support base itself, the layout of mining equipment at the working face is restricted, and the range of movement of operators is narrow. That is, the operators of the hydraulic support at the working face need to carry out mining operations within the effective support range of the hydraulic support.

[0008] The hydraulic support can be operated remotely from a safe visual distance. Operators typically observe the operation from an adjacent or alternate support, holding the remote control in one hand and communicating with the controller wirelessly. The controller then drives the valve assembly of the hydraulic support to perform the desired actions.

[0009] However, due to the limited safety support space, the risk factor for operators is relatively high when operating hydraulic supports. Summary of the Invention

[0010] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or describe the scope of protection of these embodiments, but rather as a prelude to the detailed description that follows.

[0011] This application provides a method, device, and system for safety control of hydraulic supports based on the motion state of a remote controller, in order to reduce the risk factor for operators during the operation of hydraulic supports and to protect personnel operating hydraulic supports via remote controllers to the greatest extent possible.

[0012] In some embodiments, the hydraulic support safety control method based on the motion state of the remote controller is applied to a remote controller that has already established a communication connection with the controlled hydraulic support; the hydraulic support safety control method includes:

[0013] Obtain the current motion state and historical motion state of the remote control body; wherein, the current motion state of the remote control includes the current speed and the current acceleration of the remote control;

[0014] The current usage state of the remote control is determined based on the current motion state of the remote control. The current usage state is either a normal usage state or an abnormal usage state. The motion state of the remote control corresponding to the normal usage state is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing normally. The motion state of the remote control corresponding to the abnormal usage state is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing abnormally.

[0015] The current movement state of a person is determined based on the current movement state of the remote control and the historical movement states of the remote control; wherein, the current movement state of a person is determined based on the average movement state of the remote control between the current movement state and the historical movement states of the remote control.

[0016] The current personnel safety risk status is determined based on the current usage status and the current personnel movement status. Among them, abnormal usage status will increase the personnel safety risk. If the current personnel movement status indicates that the personnel have entered the current danger zone caused by the operation of the controlled hydraulic support, it will also increase the personnel safety risk.

[0017] If the current personnel safety risk status meets the safety protection conditions, cut off the channel for transmitting control commands to the controlled hydraulic support;

[0018] The system broadcasts information about a potential risk event; it locks all hydraulic supports in the preset areas on both sides of the remote control body; the locked state indicates that the hydraulic supports do not perform any action, and the distance between the remote control body and the edge of either preset area is greater than the sum of the width of the current danger zone and the safety distance. The safety distance is determined based on the current usage status and the current personnel movement status, and is used to indicate the maximum distance between the personnel and the remote control under the current personnel safety risk status.

[0019] Optionally, the current usage state of the remote control body is determined based on the current motion state of the remote control, including: comparing the current speed of the remote control with the magnitude of a speed threshold, and comparing the current acceleration of the remote control with the magnitude of an acceleration threshold; if the current speed of the remote control is less than the speed threshold and the current acceleration of the remote control is less than the acceleration threshold, the current usage state is determined as a normal usage state; if the current speed of the remote control is greater than or equal to the speed threshold and / or the current acceleration of the remote control is greater than or equal to the acceleration threshold, the current usage state is determined as an abnormal usage state.

[0020] Optionally, the current personnel movement state is determined based on the current remote control movement state and the historical remote control movement states, including: combining the current remote control movement state and the historical remote control movement state in chronological order to form a remote control movement state sequence; using a sliding time window to extract a combination of multiple consecutive velocities and accelerations from the remote control movement state sequence; and determining the average velocity and average acceleration of the multiple consecutive velocities and accelerations as the velocity and acceleration corresponding to the current personnel movement state; wherein the duration of the sliding time window is less than the time required for the controlled hydraulic support to complete one action.

[0021] Optionally, the current personnel safety risk status is determined based on the current usage status and the current personnel movement status, including: if the current usage status is an abnormal usage status, and the speed and acceleration of the remote control body can indicate that the remote control body is in a falling state, then regardless of the current personnel movement status, the current personnel safety risk status is determined as the highest risk status; wherein, the highest risk status meets the safety protection conditions.

[0022] Optionally, the current personnel safety risk status is determined based on the current usage status and the current personnel movement status, including: if the current usage status is an abnormal usage status, and the current remote control speed and current remote control acceleration indicate that the remote control is in an impact state, and the personnel are outside the current danger zone caused by the movement of the controlled hydraulic support, then the current impact intensity is determined based on the current remote control speed and current remote control acceleration; the current personnel safety risk status is determined based on the current impact intensity: if the current impact intensity indicates that the remote control is in a state where it is easy to slip out of the hand, then the current personnel safety risk status is determined to be a medium-high risk status, which meets the safety protection conditions; if the current impact indicates that the remote control is in a state where it is not easy to slip out of the hand, then the current personnel safety risk status is determined to be a medium-low risk status, which does not meet the safety protection conditions.

[0023] Optionally, the current personnel safety risk status is determined based on the current usage status and the current personnel movement status, including: if the current usage status is an abnormal usage status, and the current remote control speed and current remote control acceleration of the remote control body can indicate that the remote control body is in an impact state, and the personnel are within the current danger zone generated by the movement of the controlled hydraulic support, then the personnel risk status is determined to be a medium-high risk status, and the medium-high risk status meets the safety protection conditions.

[0024] Optionally, the current personnel safety risk status is determined based on the current usage status and the current personnel movement status, including: if the current usage status is normal usage status, the current personnel safety risk status is determined based on the relationship between the movement trend of the current personnel movement status and the current danger zone generated by the movement of the controlled hydraulic support; wherein, the more the movement trend indicates that the personnel will quickly enter the center point of the current danger zone, the more dangerous the current personnel safety risk status is.

[0025] Optionally, the method for determining that the remote control body is in a falling state includes: obtaining the acceleration change curve corresponding to the preset falling state; obtaining the acceleration change sequence corresponding to the current movement state and the historical movement state of the remote control in chronological order; and determining that the remote control body is in a falling state when the acceleration change sequence and the acceleration change curve match.

[0026] Optionally, the hydraulic support safety control method based on the remote control motion state further includes: obtaining the maximum possible danger area of ​​the controlled hydraulic support; wherein the maximum possible current danger area is obtained by: obtaining the historical support action state of the controlled hydraulic support at the previous moment; and determining the maximum possible danger area caused by erroneous operation of the remote control buttons under the condition that the current use state is an abnormal use state, based on the historical support action state, wherein the maximum possible danger area corresponding to the support action state and the erroneous operation of the remote control buttons is preset.

[0027] Optionally, the current personnel safety risk status is determined based on the current usage status and the current personnel movement status, including: determining the current personnel safety risk status based on the current usage status, the current personnel movement status, and the current hazardous area; determining the potential personnel safety risk status based on the current usage status, the current personnel movement status, and the area with the greatest probability of danger; determining the final current personnel safety risk status based on the weighted sum of the potential personnel safety risk status and the current personnel safety risk status; the final current personnel safety risk status is used to determine whether the safety protection conditions are met.

[0028] Optionally, the safe distance can be determined by: determining the safe distance based on the current usage state and the current movement state of the personnel; wherein, the current usage state indicates that the more severe the impact, the greater the safe distance; and the greater the speed and / or acceleration corresponding to the current movement state of the personnel, the greater the safe distance.

[0029] Optionally, cutting off the channel for transmitting control commands to the controlled hydraulic support includes: releasing the pairing status with the controlled hydraulic support.

[0030] Optionally, cutting off the channel for transmitting control commands to the controlled hydraulic support includes: cutting off the path between the button actions of the remote control and the transmission of information, so that the remote control is in the following state: no information is transmitted externally regardless of any button action.

[0031] In some embodiments, the hydraulic support safety control method based on the remote control's motion state is applied to all hydraulic supports in preset areas on both sides of the remote control body; the distance between the remote control body and the edge of any preset area is greater than the sum of the width of the current danger zone and the safety distance, which is determined based on the current usage state of the remote control body and the current personnel movement state, and is used to represent the maximum distance between the personnel and the remote control under the current personnel safety risk state; the hydraulic support safety control method based on the remote control's motion state includes:

[0032] Listening to broadcast messages;

[0033] Upon receiving information indicating the presence of a risk event, the hydraulic support enters a locked state; the locked state means that the hydraulic support does not perform any actions.

[0034] The information indicating a potential risk event is broadcast by the remote control in the following circumstances:

[0035] Obtain the current motion state and historical motion state of the remote control body; wherein, the current motion state of the remote control includes the current speed and the current acceleration of the remote control;

[0036] The current usage state of the remote control is determined based on the current motion state of the remote control. The current usage state is either a normal usage state or an abnormal usage state. The motion state of the remote control corresponding to the normal usage state is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing normally. The motion state of the remote control corresponding to the abnormal usage state is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing abnormally.

[0037] The current movement state of a person is determined based on the current movement state of the remote control and the historical movement states of the remote control; wherein, the current movement state of a person is determined based on the average movement state of the remote control between the current movement state and the historical movement states of the remote control.

[0038] The current personnel safety risk status is determined based on the current usage status and the current personnel movement status. Among them, abnormal usage status will increase the personnel safety risk. If the current personnel movement status indicates that the personnel have entered the current danger zone caused by the operation of the controlled hydraulic support, it will also increase the personnel safety risk.

[0039] If the current personnel safety risk status meets the safety protection conditions, cut off the channel for transmitting control commands to the controlled hydraulic support;

[0040] The broadcast contained information about a risky event.

[0041] In some embodiments, the hydraulic support safety control device based on the motion state of a remote controller includes a processor and a memory storing program instructions. The processor is configured to execute the hydraulic support safety control method based on the motion state of a remote controller provided in the foregoing embodiments when executing the program instructions.

[0042] In some embodiments, the hydraulic support safety control system based on the motion state of the remote controller includes the hydraulic support safety control device based on the motion state of the remote controller provided in the foregoing embodiments.

[0043] The hydraulic support safety control method, device, and system based on remote control motion state provided in this application can achieve the following technical effects:

[0044] The current usage status of the remote control is determined by its movement status. This allows the system to identify whether the remote control is being used while the person is walking or standing normally, or while the person is walking or standing abnormally. For example, if the remote control collides with the hydraulic support due to loss of balance while moving, or if the remote control is accidentally released from the person's hand, or if the person falls, these events will all be reflected in the current usage status.

[0045] The step of determining the current personnel movement status based on the current and historical remote control movement status involves indirectly determining the personnel movement status related to safety risks using the remote control's movement status. Specifically, the average remote control movement status between the current and historical statuses can indicate the personnel's movement trend. For example, rapid personnel movement increases safety risks, as does movement trends indicating that personnel are entering or about to enter a danger zone created by the movement of a controlled hydraulic support.

[0046] Determining the current safety risk status of personnel based on their current usage and movement status reflects the interaction between these two factors. For example, abnormal use of a remote control could result in it slipping out of someone's hand or a fall. Based on basic human reflexes, a person would pick up the remote control, potentially placing them in a dangerous situation. Furthermore, if the current movement status indicates a high speed, the person would likely stop moving before picking up the remote control, putting them in an even more dangerous situation. Similarly, when the remote control collides with a hydraulic support, if the person is stationary, the impact has little effect on their stability. However, if the person is moving, the impact significantly negatively impacts their stability, placing them in a more dangerous situation.

[0047] If the current personnel safety risk status meets the safety protection conditions, cutting off the channel for transmitting control commands to the controlled hydraulic support can initially reduce or avoid the safety risks caused by unpredictable hydraulic support actions resulting from button misoperation due to contact with other equipment during remote control impact or loss.

[0048] The reason for initially reducing or avoiding safety risks is that the hydraulic supports are not only controlled by the remote control but also linked with the scraper conveyor. Even under the current personnel safety risk conditions, calculations based on the most unfavorable and most dangerous factors indicate that the linkage between the hydraulic supports and the scraper conveyor also carries safety risks. Furthermore, even under the current personnel safety risk conditions, calculations based on the most unfavorable and most dangerous factors from the perspective of the personnel's position show that the most dangerous state is a fall. After a fall, the distance between the person and the remote control is unpredictable. In this case, all hydraulic supports within the preset area are locked. Specifically, the distance between the remote control and the edge of either preset area is greater than the sum of the width of the current danger zone and the safe distance. The safe distance is determined based on the current usage and personnel movement status and represents the maximum distance between the person and the remote control under the current personnel safety risk conditions. This preset area effectively avoids safety risks caused by the most unfavorable personnel situation.

[0049] Overall, the higher the current safety risk level of personnel, the larger the coverage area of ​​the preset zone. Therefore, such a preset zone can avoid safety risks caused by the most unfavorable state of personnel.

[0050] In summary, the technical solution provided by the embodiments of this application can reduce the risk factor for operators during the operation of hydraulic supports and protect personnel operating hydraulic supports via remote control to the greatest extent.

[0051] The above general description and the description below are exemplary and illustrative only and are not intended to limit this application. Attached Figure Description

[0052] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrative descriptions and drawings do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are considered similar elements, and wherein:

[0053] Figure 1 This is a schematic diagram illustrating the connection between a remote controller and a hydraulic support controller according to an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of the interface of a bracket controller provided in an embodiment of this application;

[0055] Figure 3 This is a flowchart illustrating a hydraulic support safety control method based on the motion state of a remote controller, provided in an embodiment of this application.

[0056] Figure 4 This is a schematic diagram of the hydraulic support locking state provided in an embodiment of this application, under the condition that the current personnel safety risk status meets the safety protection conditions;

[0057] Figure 5 This application provides a schematic diagram of the logical connection between a remote controller and a hydraulic support controller.

[0058] Figure 6 This is a schematic diagram of an acceleration variation curve provided in an embodiment of this application;

[0059] Figure 7 This is a flowchart illustrating another hydraulic support safety control method based on the motion state of a remote controller provided in this application embodiment;

[0060] Figure 8 This is a flowchart illustrating the third hydraulic support safety control method based on the motion state of a remote controller provided in this application embodiment;

[0061] Figure 9 This is a schematic diagram of a hydraulic support safety control device based on the motion state of a remote controller, provided in an embodiment of this application. Detailed Implementation

[0062] To provide a more detailed understanding of the features and technical content of the embodiments of this application, the implementation of the embodiments of this application will be described in detail below with reference to the accompanying drawings. The accompanying drawings are for illustrative purposes only and are not intended to limit the embodiments of this application. In the following technical description, for ease of explanation, several details are used to provide a full understanding of the disclosed embodiments. However, one or more embodiments may still be implemented without these details. In other cases, well-known structures and devices may be simplified in their depiction to simplify the drawings.

[0063] The terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0064] Unless otherwise stated, the term "multiple" means two or more.

[0065] In this embodiment, the character " / " indicates that the objects before and after it are in an "or" relationship. For example, A / B means: A or B.

[0066] The term "and / or" describes an association between objects, indicating that three relationships can exist. For example, A and / or B means: A or B, or A and B.

[0067] Figure 1 This is a schematic diagram of the connection between a remote controller and a hydraulic support controller provided in an embodiment of this application, and also a schematic diagram of the implementation scenario of the hydraulic support safety control method based on the motion state of the remote controller.

[0068] Combination Figure 1 As shown, the support controller 13 corresponding to each hydraulic support is connected to the corresponding wireless data transceiver 12, and the remote controller 11 is connected to multiple wireless data transceivers 12 within the coverage area via wireless communication.

[0069] Specifically, the interface of the bracket controller 13 can be as follows: Figure 2 As shown.

[0070] The remote controller 11 and the wireless data transceiver 12 are connected via a 433M wireless module.

[0071] The remote control 11 is equipped with an accelerometer detection function. By collecting linear acceleration data of an object in three-dimensional space through the accelerometer, it can reflect the operator's movement posture. Depending on the application scenario, the measurement range of the accelerometer sensor ranges from a few grams to tens of grams.

[0072] The acceleration detection solution uses a 3-axis accelerometer, which can be applied to motion detection, equipment posture recognition, and vibration monitoring. The acceleration measurement range can reach ±16g. It features low power consumption, high sensitivity, and built-in motion detection and wake-up functions. The acceleration sensor chip is integrated into the motherboard of the remote controller 11. The main microcontroller unit (MCU) reads the acceleration count value in real time through the sensor interface. In this way, the remote controller 11 can reflect the operator's motion posture in real time during operation. Combined with filtering algorithms and threshold judgment, the technology of motion state recognition is realized, and the operator's activities are monitored and analyzed in real time.

[0073] The movement of the hydraulic support can be adjusted by operating the remote control 11 instead of directly operating the support controller 13.

[0074] It should be understood that, Figure 1 and Figure 2 This diagram is provided solely as an example to illustrate the function of the remote controller and the implementation scenario. Its purpose is to enable wireless communication between the remote controller 11 and the support controller 13, and to allow the remote controller 11 to control the hydraulic support instead of the support controller 13. To achieve the above objective, those skilled in the art can use any other existing wireless communication technology as an alternative. Figure 1 The communication scheme of the 433M wireless module shown can be replaced by any other interface design scheme according to the specific function of the hydraulic support, such as Bluetooth communication technology or Long Range Radio (LOR) communication technology. Figure 2 The remote control interface shown is shown.

[0075] Figure 3 This is a flowchart illustrating a hydraulic support safety control method based on the motion state of a remote controller, as provided in an embodiment of this application.

[0076] This hydraulic support safety control method based on the motion state of the remote controller is applied to a remote controller that has already established a communication connection with the controlled hydraulic support.

[0077] Combination Figure 3 As shown, the hydraulic support safety control method based on the motion state of the remote controller includes:

[0078] S301. Obtain the current motion state and historical motion state of the remote control body.

[0079] The current motion state of the remote control includes the current speed and the current acceleration of the remote control.

[0080] If only the acceleration of the remote control can be directly obtained, the acceleration can be integrated to obtain the speed of the remote control.

[0081] S302. Determine the current usage status of the remote control body based on the current movement status of the remote control.

[0082] The above current usage status is either normal usage status or abnormal usage status.

[0083] The motion state of the remote control corresponding to normal use is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing normally, which is the state of a person using the remote control normally in everyday understanding.

[0084] The abnormal usage state corresponds to the movement state of the remote control, which is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing abnormally. This is the state of abnormal use of the remote control in everyday understanding.

[0085] Optionally, the current usage state of the remote control body is determined based on the current motion state of the remote control, including: comparing the current speed of the remote control with the magnitude of a speed threshold, and comparing the current acceleration of the remote control with the magnitude of an acceleration threshold; if the current speed of the remote control is less than the speed threshold and the current acceleration of the remote control is less than the acceleration threshold, the current usage state is determined as a normal usage state; if the current speed of the remote control is greater than or equal to the speed threshold and / or the current acceleration of the remote control is greater than or equal to the acceleration threshold, the current usage state is determined as an abnormal usage state.

[0086] If the remote control's speed is greater than or equal to a speed threshold, or if a person is likely to swing the remote control at a dangerous speed, or if the remote control has been in free fall for a certain period of time, resulting in the remote control being dropped, these situations can pose a danger to personnel within a confined safety support space.

[0087] If the remote control's acceleration is greater than or equal to the acceleration threshold, or if the remote control collides with the hydraulic support (not necessarily the controlled hydraulic support), it indicates that a dangerous action will occur at that moment. Alternatively, if the remote control is dropped and hits the ground, it indicates that a dangerous action will occur after that moment. Furthermore, regardless of whether the remote control collides with the hydraulic support or hits the ground, there is a possibility of accidental button presses. Accidental button presses could cause the controlled hydraulic support to malfunction, resulting in unpredictable safety risks.

[0088] S303. Determine the current movement status of the personnel based on the current movement status of the remote control and the historical movement status of the remote control.

[0089] The current movement state of the person is determined based on the average movement state of the remote control, which is the current movement state of the remote control and the historical movement states of the remote control.

[0090] Specifically, the current personnel movement state is determined based on the current remote control movement state and the historical remote control movement state, including: combining the current remote control movement state and the historical remote control movement state into a remote control movement state sequence in chronological order; using a sliding time window to extract a combination of multiple consecutive velocities and accelerations from the remote control movement state sequence; and determining the average velocity and average acceleration of the multiple consecutive velocities and accelerations as the velocity and acceleration corresponding to the current personnel movement state; wherein the duration of the sliding time window is less than the time required for the controlled hydraulic support to complete one action.

[0091] The current motion state of a person can be determined by averaging the average velocity and average acceleration of multiple continuous velocities and accelerations. This can largely eliminate the influence of repeated movements of the remote control, such as repeated movements of the remote control during a person's normal hand-waving and forward movement, or repeated movements of the remote control caused by the person's left-right swaying and rotation. In this way, the comprehensive motion trend of the remote control can be extracted, which can reflect the motion trend of the person.

[0092] If the sliding time window is too small, it may not be able to eliminate the impact of repeated movements on the overall trend to a large extent; if the sliding time window is too large, it will cause a large delay in determining the current movement status of the personnel, which is not conducive to a more real-time assessment of the movement trend of the personnel.

[0093] If the length of the sliding time window is less than the time required for the controlled hydraulic support to complete one action, then the controlled hydraulic support will complete one action within at least one complete time window. That is, it can at least ensure that a current personnel movement state is determined based on the continuous actions of the remote control during the period when the hydraulic support completes one action.

[0094] During the operation of hydraulic supports, personnel often observe their status. After the hydraulic supports have operated, personnel can then focus their attention on the ground. Therefore, incidents such as personnel falling or unnecessary collisions between personnel and hydraulic supports (which can be other than the controlled hydraulic supports) are more likely to occur during the operation of hydraulic supports.

[0095] Ensuring that the controlled hydraulic support completes an action includes at least one full time window helps reduce the adverse impact of delays in the current personnel movement status on the accuracy of the final determination of the current personnel safety risk status.

[0096] Of course, in the extreme case where the time required for the controlled hydraulic support to complete an action is less than the cycle of repeated motion of the remote control, the sliding time window can still be made equal to the cycle of repeated motion of the remote control to avoid data incompleteness that would prevent the average speed and average acceleration from being affected by repeated motion.

[0097] The aforementioned action of a hydraulic support refers to the action of the support component of the hydraulic support completing a complete adjustment. For example, an action of a hydraulic support can be a complete extension of the guardrail, a complete retraction of the guardrail, a complete push-slide action, a complete retraction of the balance, or a complete extension of the balance.

[0098] S304. Determine the current personnel safety risk status based on the current usage status and the current personnel movement status.

[0099] Abnormal usage status increases the safety risk to personnel. If the current personnel movement status indicates that personnel have entered the current danger zone caused by the operation of the controlled hydraulic support, it will also increase the safety risk to personnel.

[0100] The aforementioned current hazardous areas include, but are not limited to: the hazardous areas caused by the range of motion of the front beam and top beam during the relocation of the controlled hydraulic support; and the hazardous areas caused by the gaps in the side guard plates of the top beam and the side guard plates of the shield beam of the controlled hydraulic support, which may pose risks of accidents such as roof collapse and fall during the relocation of the controlled hydraulic support.

[0101] Optionally, the current personnel safety risk status can be determined based on the current usage status and the current personnel movement status, including:

[0102] If the current usage state is abnormal, and the speed and acceleration of the remote control body indicate that the remote control body is in a falling state, then regardless of the current movement state of the personnel, the current personnel safety risk state is determined to be the highest risk state; where the highest risk state meets the safety protection conditions.

[0103] If the current usage status is abnormal, and the current speed and acceleration of the remote control indicate that the remote control is under impact, and the personnel are outside the current danger zone created by the movement of the controlled hydraulic support, then the current impact intensity is determined based on the current speed and acceleration of the remote control. The current personnel safety risk status is then determined based on the impact intensity: if the impact intensity indicates that the remote control is easily released from the hand, then the current personnel safety risk status is determined to be medium-high risk, which meets the safety protection conditions; if the impact indicates that the remote control is not easily released from the hand, then the current personnel safety risk status is determined to be medium-low risk, which does not meet the safety protection conditions.

[0104] If the current usage status is abnormal, and the current speed and acceleration of the remote control body indicate that the remote control body is in an impact state, and the personnel are within the current danger zone caused by the movement of the controlled hydraulic support, then the personnel risk status is determined to be a medium-high risk status, and the medium-high risk status meets the safety protection conditions.

[0105] If the current usage status is normal, the current personnel safety risk status is determined by the relationship between the current personnel movement trend and the current danger zone generated by the controlled hydraulic support movement; the more the movement trend indicates that the personnel will quickly enter the center point of the current danger zone, the more dangerous the current personnel safety risk status is.

[0106] S305. If the current personnel safety risk status meets the safety protection conditions, cut off the channel for transmitting control commands to the controlled hydraulic support.

[0107] Optionally, the channel for transmitting control commands to the controlled hydraulic support can be cut off, including: deactivating the pairing status with the controlled hydraulic support. After deactivation, the remote controller can send control information, but the controlled hydraulic support cannot receive the control information.

[0108] Optionally, cutting off the channel for transmitting control commands to the controlled hydraulic support includes: cutting off the path between the button actions of the remote control and the transmission of information, so that the remote control is in the following state: no information is transmitted externally regardless of any button action.

[0109] Of course, once personnel resume normal use of the remote control, that is, once the current personnel safety risk status no longer meets the safety protection conditions, the channel for transmitting control commands to the controlled hydraulic support will be restored.

[0110] S306. Broadcasting information about potential risk events.

[0111] The presence of risk events broadcast by the remote control can lock all hydraulic supports in the preset areas on both sides of the remote control body. The locked state means that the hydraulic supports do not perform any action, and the distance between the remote control body and the edge of either preset area is greater than the sum of the width of the current danger zone and the safety distance. The safety distance is determined based on the current usage state and the current personnel movement state, and is used to indicate the maximum distance between the personnel and the remote control under the current personnel safety risk state.

[0112] If the remote control and the hydraulic support controller's wireless data transceiver are connected via a 433M wireless module, since the communication distance of the 433M wireless module is related to the wireless transmission power, it is necessary to ensure that an appropriate signal strength is set so that the communication distance is greater than the maximum theoretical distance between the remote control body and the edge of any preset area.

[0113] Optionally, the methods for determining the safe distance include:

[0114] The safe distance is determined based on the current usage status and the current movement status of the personnel; where the current usage status indicates that the more severe the impact, the greater the safe distance; the greater the speed and / or acceleration corresponding to the current movement status of the personnel, the greater the safe distance.

[0115] Figure 4 This is a schematic diagram of the hydraulic support locking state provided in an embodiment of this application, under the condition that the current personnel safety risk status meets the safety protection conditions.

[0116] The hydraulic supports 14 are arranged in a continuous straight line to ensure the continuity of lateral support between the hydraulic supports 14 and to prevent the top plate from collapsing due to being suspended.

[0117] If the current personnel safety risk status at remote control 11 meets the safety protection conditions, then... Figure 4 The six bright yellow hydraulic supports 14 are in the locked state.

[0118] Figure 5 This is a schematic diagram of the logical connection between a remote controller and a hydraulic support controller provided in this application embodiment. The remote controller 11 and the audible and visual alarm 16 are connected by a dotted line in the figure. This does not represent a hardware connection between the two, but rather a logical connection. That is, if the current personnel safety risk status meets the safety protection conditions, then the audible and visual alarms 16 of all hydraulic supports in the preset areas on both sides of the remote controller body will be activated.

[0119] At the same time, the alarm signal will also be transmitted to the monitoring host 15, so that relevant monitoring personnel can promptly detect the safety risks of the operators.

[0120] Optionally, the method for determining that the remote control body is in a falling state includes: obtaining an acceleration change curve corresponding to a preset falling state; obtaining an acceleration change sequence corresponding to the current remote control motion state and the historical remote control motion state arranged in chronological order; and determining that the remote control body is in a falling state when the acceleration change sequence matches the acceleration change curve.

[0121] Figure 6 This is a schematic diagram of an acceleration change curve provided in an embodiment of this application.

[0122] Combination Figure 6As shown, in the initial state (4), the acceleration values ​​of each axis oscillate slightly within a certain range. When free fall occurs, the system is in a state of weightlessness (1). The vector sum of acceleration drops to a level close to 0g. The duration depends on the height of free fall. After the weightlessness phenomenon occurs, the remote control collides with the ground or a metal object, resulting in a violent impact. The vector sum of acceleration is the instantaneous peak value (2). Subsequently, due to factors such as rebound, one or two consecutive values ​​lower than the highest peak may appear. After the impact ends, the system returns to a stationary state (3). By comparing the preset reference acceleration value (e.g., 5g) with the instantaneous peak, it is determined that a fall event has occurred.

[0123] Figure 7 This is a flowchart illustrating another hydraulic support safety control method based on the motion state of a remote controller, provided in an embodiment of this application.

[0124] This hydraulic support safety control method based on the motion state of the remote controller is applied to a remote controller that has already established a communication connection with the controlled hydraulic support.

[0125] Combination Figure 7 As shown, the hydraulic support safety control method based on the motion state of the remote controller includes:

[0126] S701. Obtain the current motion state and historical motion state of the remote control body.

[0127] S702. Determine the current usage status of the remote control body based on the current movement status of the remote control.

[0128] S703. Determine the current movement status of the personnel based on the current movement status of the remote control and the historical movement status of the remote control.

[0129] S704. Obtain the maximum potential danger zone of the controlled hydraulic support.

[0130] The maximum possible current danger area is obtained as follows: the historical support action status of the controlled hydraulic support at the previous moment is obtained; based on the historical support action status, the maximum possible danger area caused by the misoperation of the remote control button is determined when the current use status is abnormal. The maximum possible danger area corresponding to the support action status and the misoperation of the remote control button is preset.

[0131] For example, if the support was in a fully extended state at one moment and in a partially extended state at the other, and the remote control button is mistakenly pressed to perform a pushing action, the maximum danger zone of the hydraulic support will be different.

[0132] The step of obtaining the most likely current danger zone can be performed by either a remote controller or a support controller.

[0133] S705. Determine the current personnel safety risk status based on the current usage status, current personnel movement status, and current hazardous area.

[0134] The current danger zone in this step can be considered a fixed danger zone.

[0135] S706. Determine the potential personnel safety risk status based on the current usage status, current personnel movement status, and the most likely hazardous area.

[0136] The most likely danger zone in this step can be considered as the danger zone that changes depending on the operating state of the hydraulic support.

[0137] The specific process of determining the potential personnel safety risk status based on the current usage status, the current personnel movement status, and the most likely danger zone is the same as determining the current personnel safety risk status based on the current usage status, the current personnel movement status, and the current danger zone.

[0138] Specifically, the process of determining the potential personnel safety risk status based on the current usage status, current personnel movement status, and the most likely hazardous area includes:

[0139] If the current usage state is abnormal, and the speed and acceleration of the remote control body indicate that the remote control body is in a falling state, then regardless of the current movement state of the personnel, the current personnel safety risk state is determined to be the highest risk state; where the highest risk state meets the safety protection conditions.

[0140] If the current usage status is abnormal, and the current speed and acceleration of the remote control indicate that the remote control is under impact, and the personnel are outside the maximum potential danger zone caused by the movement of the controlled hydraulic support, then the current impact intensity is determined based on the current remote control speed and acceleration. The current personnel safety risk status is then determined based on the current impact intensity: if the current impact intensity indicates that the remote control is easily released from the hand, then the current personnel safety risk status is determined to be medium-high risk, which meets the safety protection conditions; if the current impact indicates that the remote control is not easily released from the hand, then the current personnel safety risk status is determined to be medium-low risk, which does not meet the safety protection conditions.

[0141] If the current usage status is abnormal, and the current speed and acceleration of the remote control body can indicate that the remote control body is in an impact state, and the personnel are within the maximum possible danger zone caused by the movement of the controlled hydraulic support, then the personnel risk status is determined to be a medium-high risk status, and the medium-high risk status meets the safety protection conditions.

[0142] If the current usage status is normal, the current personnel safety risk status is determined based on the relationship between the current personnel movement trend and the maximum possible danger zone generated by the controlled hydraulic support action; the more the movement trend indicates that the personnel will quickly enter the center point of the maximum possible danger zone, the more dangerous the current personnel safety risk status is.

[0143] S707. Determine the final current personnel safety risk status based on the weighted sum of the potential personnel safety risk status and the current personnel safety risk status.

[0144] In the weighted calculation process, the sum of the weights of the potential personnel safety risk status and the current personnel safety risk status is 1, and the weights of the two indicate the degree of importance.

[0145] The weighted sum of the potential personnel safety risk status and the current personnel safety risk status can be used as the final current personnel safety risk level.

[0146] This final current personnel safety risk status is used in subsequent steps to determine whether safety protection conditions are met.

[0147] S708. If the current personnel safety risk status meets the safety protection conditions, cut off the channel for transmitting control commands to the controlled hydraulic support.

[0148] S709. Broadcasting information about potential risk events.

[0149] Personnel safety risks arise from the operation of the hydraulic supports. The initial determination of the current personnel safety risk status is a static risk, while the identified potential personnel safety risk status is a dynamic risk. Static risk focuses on reflecting the safety risks arising from the hydraulic supports' own dimensional parameters and the arrangement of different hydraulic supports during their movement. In contrast, dynamic risk focuses on reflecting the safety risks arising from the specific operational state of the hydraulic supports. The final current personnel safety risk status is determined by weighting both aspects, thus more accurately reflecting the actual situation and effectively protecting personnel.

[0150] Figure 8 This is a flowchart illustrating the third hydraulic support safety control method based on the motion state of a remote controller provided in this application embodiment.

[0151] This hydraulic support safety control method based on the remote control's motion state is applied to all hydraulic supports in preset areas on both sides of the remote control body. The distance between the remote control body and the edge of any preset area is greater than the sum of the width of the current danger zone and the safety distance. The safety distance is determined based on the current usage state of the remote control and the current movement state of the personnel, and is used to represent the maximum distance between the personnel and the remote control under the current personnel safety risk state.

[0152] Combination Figure 8 As shown, the hydraulic support safety control method based on the motion state of the remote controller includes:

[0153] S801, Listening to broadcast information.

[0154] S802. Upon receiving information indicating the existence of a risk event, the system enters a locked state.

[0155] The locked state indicates that the hydraulic support does not perform any action.

[0156] The information indicating a potential risk event is broadcast by the remote control in the following circumstances:

[0157] Obtain the current motion state and historical motion state of the remote control body; wherein, the current motion state of the remote control includes the current speed and the current acceleration of the remote control;

[0158] The current usage state of the remote control is determined based on the current motion state of the remote control. The current usage state is either a normal usage state or an abnormal usage state. The motion state of the remote control corresponding to the normal usage state is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing normally. The motion state of the remote control corresponding to the abnormal usage state is the speed and acceleration of the remote control caused by a person using the remote control while walking or standing abnormally.

[0159] The current movement state of a person is determined based on the current movement state of the remote control and the historical movement states of the remote control; wherein, the current movement state of a person is determined based on the average movement state of the remote control between the current movement state and the historical movement states of the remote control.

[0160] The current personnel safety risk status is determined based on the current usage status and the current personnel movement status. Among them, abnormal usage status will increase the personnel safety risk. If the current personnel movement status indicates that the personnel have entered the current danger zone caused by the operation of the controlled hydraulic support, it will also increase the personnel safety risk.

[0161] If the current personnel safety risk status meets the safety protection conditions, cut off the channel for transmitting control commands to the controlled hydraulic support;

[0162] The broadcast contained information about a risky event.

[0163] The hydraulic support safety control method based on remote control motion state provided in the foregoing embodiments, in addition to improving the safety production level of intelligent coal mining faces and reducing the risk of human error, also has the following advantages:

[0164] It has a high degree of integration, and is integrated with the remote control function, eliminating the need for additional portable devices and data transmission links;

[0165] With high real-time responsiveness, it can effectively receive commands from controllers within its range and lock them in real time, thus expanding the protected safety area.

[0166] It has the advantages of being easy to carry and inexpensive.

[0167] In some embodiments, the hydraulic support safety control device based on the motion state of a remote controller includes a processor and a memory storing program instructions. The processor is configured to execute the hydraulic support safety control method based on the motion state of a remote controller as provided in the foregoing embodiments when executing the program instructions.

[0168] Figure 9 This is a schematic diagram of a hydraulic support safety control device based on the motion state of a remote controller, provided in an embodiment of this application.

[0169] Combination Figure 9 As shown, the hydraulic support safety control device based on the motion state of the remote control includes:

[0170] The processor 91 and memory 92 may also include a communication interface 93 and a bus 94. The processor 91, communication interface 93, and memory 92 can communicate with each other via the bus 94. The communication interface 93 can be used for information transmission. The processor 91 can call logical instructions in the memory 92 to execute the hydraulic support safety control method based on the remote control motion state provided in the foregoing embodiments.

[0171] Furthermore, the logic instructions in the aforementioned memory 92 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium.

[0172] The memory 92, as a computer-readable storage medium, can be used to store software programs and computer-executable programs, such as program instructions / modules corresponding to the methods in the embodiments of this application. The processor 91 executes functional applications and data processing by running the software programs, instructions, and modules stored in the memory 92, thereby implementing the methods in the above-described method embodiments.

[0173] The memory 92 may include a program storage area and a data storage area. The program storage area may store the operating system and application programs required for at least one function; the data storage area may store data created based on the use of the terminal device. Furthermore, the memory 92 may include high-speed random access memory and may also include non-volatile memory.

[0174] This application provides a hydraulic support safety control system based on the motion state of a remote controller, which includes the hydraulic support safety control device based on the motion state of a remote controller provided in the foregoing embodiments.

[0175] This application provides a computer-readable storage medium storing computer-executable instructions, which are configured to execute the hydraulic support safety control method based on the remote control motion state provided in the foregoing embodiments.

[0176] This application provides a computer program product, which includes a computer program stored on a computer-readable storage medium. The computer program includes program instructions, which, when executed by a computer, cause the computer to perform the hydraulic support safety control method based on the remote control motion state provided in the aforementioned embodiment.

[0177] The aforementioned computer-readable storage medium may be a transient computer-readable storage medium or a non-transitory computer-readable storage medium.

[0178] The technical solutions of this application embodiment can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes one or more instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods in this application embodiment. The aforementioned storage medium can be a non-transitory storage medium, including: USB flash drive, portable hard drive, read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk, and other media capable of storing program code; it can also be a transient storage medium.

[0179] The foregoing description and accompanying drawings fully illustrate embodiments of this application to enable those skilled in the art to practice them. Other embodiments may include structural, logical, electrical, procedural, and other changes. The embodiments represent only possible variations. Individual components and functions are optional unless explicitly required, and the order of operations may vary. Parts and features of some embodiments may be included in or replace parts and features of other embodiments. Moreover, the terminology used in this application is for describing embodiments only and is not intended to limit the claims. As used in the description of embodiments and claims, the singular forms “a,” “an,” and “the” are intended to equally include the plural forms unless the context clearly indicates otherwise. Additionally, when used in this application, the terms “comprise” and its variations “comprises” and / or “comprising” refer to the presence of stated features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. Unless otherwise specified, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, or apparatus that includes that element. In this document, each embodiment may focus on describing the differences from other embodiments, and similar or identical parts between embodiments can be referred to mutually. For methods, products, etc., disclosed in the embodiments, if they correspond to the method section disclosed in the embodiments, then the relevant parts can be referred to the description of the method section.

[0180] Those skilled in the art will 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, or a combination of computer software and electronic hardware. 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 implementation should not be considered beyond the scope of the embodiments of this application. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0181] The methods and products (including but not limited to devices and equipment) disclosed in the embodiments herein can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For instance, the division of units may be merely 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. In addition, the coupling or direct coupling or communication connection between the shown or discussed units may be through some interfaces, and the indirect coupling or communication connection between devices or units may be electrical, mechanical, or other forms. Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the units may be selected to implement this embodiment according to actual needs. Furthermore, the functional units in the embodiments of this application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0182] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. Each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

Claims

1. A method for safety control of a hydraulic support based on the motion state of a remote controller, characterized in that, Applied to remote controls that have already established a communication connection with the controlled hydraulic support; The safety control method for the hydraulic support includes: Obtain the current motion state and historical motion state of the remote control body; wherein, the current motion state of the remote control includes the current speed and the current acceleration of the remote control; The current usage state of the remote control body is determined based on the current motion state of the remote control; wherein, the current usage state is a normal usage state or an abnormal usage state; the motion state of the remote control corresponding to the normal usage state is the speed and acceleration of the remote control caused by the person using the remote control while walking or standing normally, and the motion state of the remote control corresponding to the abnormal usage state is the speed and acceleration of the remote control caused by the person using the remote control while walking or standing abnormally. The current movement state of a person is determined based on the current movement state of the remote controller and the historical movement states of the remote controller; wherein, the current movement state of a person is determined based on the average remote controller movement state of the current movement state and the historical movement states of the remote controller; The current personnel safety risk status is determined based on the current usage status and the current personnel movement status; wherein, abnormal usage status increases personnel safety risk, and if the current personnel movement status indicates that personnel have entered the current danger zone caused by the operation of the controlled hydraulic support, then the personnel safety risk will also increase. If the current personnel safety risk status meets the safety protection conditions, the channel for transmitting control commands to the controlled hydraulic support is cut off; The system broadcasts information about a potential risk event; locks all hydraulic supports in preset areas on both sides of the remote control body; the locked state indicates that the hydraulic supports do not perform any action, and the distance between the remote control body and the edge of either preset area is greater than the sum of the width of the current danger zone and the safety distance, which is determined based on the current usage state and the current personnel movement state, and is used to represent the maximum distance between the personnel and the remote control under the current personnel safety risk state.

2. The hydraulic support safety control method according to claim 1, characterized in that, Determining the current usage state of the remote control body based on the current movement state of the remote control includes: comparing the current remote control speed with a speed threshold, and comparing the current remote control acceleration with an acceleration threshold; if the current remote control speed is less than the speed threshold and the current remote control acceleration is less than the acceleration threshold, the current usage state is determined to be a normal usage state; if the current remote control speed is greater than or equal to the speed threshold and / or the current remote control acceleration is greater than or equal to the acceleration threshold, the current usage state is determined to be an abnormal usage state. And / or, Determining the current personnel movement state based on the current remote control movement state and the historical remote control movement states includes: combining the current remote control movement state and the historical remote control movement state in chronological order to form a remote control movement state sequence; using a sliding time window to extract a combination of multiple consecutive velocities and accelerations from the remote control movement state sequence; and determining the average velocity and average acceleration of the multiple consecutive velocities and accelerations as the velocity and acceleration corresponding to the current personnel movement state; wherein the duration of the sliding time window is less than the time required for the controlled hydraulic support to complete one action.

3. The hydraulic support safety control method according to claim 2, characterized in that, The current personnel safety risk status is determined based on the current usage status and the current personnel movement status, including: If the current usage state is an abnormal usage state, and the speed and acceleration of the remote control body indicate that the remote control body is in a falling state, then regardless of the current personnel movement state, the current personnel safety risk state is determined to be the highest risk state; wherein, the highest risk state satisfies the safety protection conditions; If the current usage state is an abnormal usage state, and the current remote control speed and current remote control acceleration indicate that the remote control body is in an impact state, and the personnel are outside the current danger zone caused by the movement of the controlled hydraulic support, then the current impact intensity is determined based on the current remote control speed and current remote control acceleration; the current personnel safety risk state is determined based on the current impact intensity: if the current impact intensity indicates that the remote control body is in a state where it is easy to slip out of the hand, then the current personnel safety risk state is determined to be a medium-high risk state, and the medium-high risk state meets the safety protection conditions; if the current impact indicates that the remote control body is in a state where it is not easy to slip out of the hand, then the current personnel safety risk state is determined to be a medium-low risk state, and the medium-low risk state does not meet the safety protection conditions; If the current usage state is an abnormal usage state, and the current remote control speed and current remote control acceleration of the remote control body can indicate that the remote control body is in an impact state, and the personnel are within the current danger zone generated by the movement of the controlled hydraulic support, then the personnel risk state is determined to be a medium-high risk state, and the medium-high risk state meets the safety protection conditions. If the current usage state is the normal usage state, the current personnel safety risk state is determined based on the relationship between the current personnel movement trend and the current danger zone generated by the controlled hydraulic support action; wherein, the more the movement trend indicates that the personnel will quickly enter the center point of the current danger zone, the more dangerous the current personnel safety risk state is.

4. The hydraulic support safety control method according to claim 3, characterized in that, The methods for determining that the remote control body is in a fallen state include: Obtain the acceleration change curve corresponding to the preset falling state; Obtain the acceleration change sequence corresponding to the current remote control motion state and the historical remote control motion states, arranged in chronological order; If the acceleration change sequence and the acceleration change curve match, it is determined that the remote control body is in a falling state.

5. The hydraulic support safety control method according to any one of claims 1 to 4, characterized in that, Also includes: The maximum possible danger area of ​​the controlled hydraulic support is obtained; wherein the maximum possible current danger area is obtained by: obtaining the historical support operation state of the controlled hydraulic support at the previous moment; and determining the maximum possible danger area caused by the misoperation of the remote control button when the current use state is an abnormal use state, based on the historical support operation state. The support operation state and the maximum possible danger area corresponding to the misoperation of the remote control button are preset. Determining the current personnel safety risk status based on the current usage status and the current personnel movement status includes: The current personnel safety risk status is determined based on the current usage status, the current personnel movement status, and the current danger zone. The potential personnel safety risk status is determined based on the current usage status, the current personnel movement status, and the most likely danger zone. The final current personnel safety risk status is determined by a weighted sum of the potential personnel safety risk status and the current personnel safety risk status; the final current personnel safety risk status is used to determine whether the safety protection conditions are met.

6. The hydraulic support safety control method according to any one of claims 1 to 4, characterized in that, The methods for determining the safe distance include: The safety distance is determined based on the current usage state and the current personnel movement state; wherein, the current usage state indicates that the more severe the impact, the greater the safety distance; and the greater the speed and / or acceleration corresponding to the current personnel movement state, the greater the safety distance.

7. The hydraulic support safety control method according to any one of claims 1 to 4, characterized in that, Cutting off the channel for transmitting control commands to the controlled hydraulic support includes: Release the pairing status with the controlled hydraulic support; or, The connection between the button presses and information transmission on the remote control is severed, so that the remote control is in the following state: no information is transmitted regardless of any button presses.

8. A method for safety control of a hydraulic support based on the motion state of a remote controller, characterized in that, Hydraulic supports are applied to all preset areas on both sides of the remote control body; the distance between the remote control body and the edge of either preset area is greater than the sum of the width of the current danger zone and the safety distance, wherein the safety distance is determined based on the current usage state of the remote control body and the current movement state of the personnel, and is used to represent the maximum distance between the personnel and the remote control under the current personnel safety risk state; the safety control method of the hydraulic supports includes: Listening to broadcast messages; Upon receiving information indicating the presence of a risk event, the hydraulic support enters a locked state; the locked state means that the hydraulic support does not perform any action. The information regarding the existence of a risk event is broadcast by the remote control under the following circumstances: Obtain the current motion state and historical motion state of the remote control body; wherein, the current motion state of the remote control includes the current speed and the current acceleration of the remote control; The current usage state of the remote control body is determined based on the current motion state of the remote control; wherein, the current usage state is a normal usage state or an abnormal usage state; the motion state of the remote control corresponding to the normal usage state is the speed and acceleration of the remote control caused by the person using the remote control while walking or standing normally, and the motion state of the remote control corresponding to the abnormal usage state is the speed and acceleration of the remote control caused by the person using the remote control while walking or standing abnormally. The current movement state of a person is determined based on the current movement state of the remote controller and the historical movement states of the remote controller; wherein, the current movement state of a person is determined based on the average remote controller movement state of the current movement state and the historical movement states of the remote controller; The current personnel safety risk status is determined based on the current usage status and the current personnel movement status; wherein, abnormal usage status increases personnel safety risk, and if the current personnel movement status indicates that personnel have entered the current danger zone caused by the operation of the controlled hydraulic support, then the personnel safety risk will also increase. If the current personnel safety risk status meets the safety protection conditions, the channel for transmitting control commands to the controlled hydraulic support is cut off; The broadcast contained information about a risky event.

9. A hydraulic support safety control device based on remote control motion state, comprising a processor and a memory storing program instructions, characterized in that, The processor is configured to execute, when executing the program instructions, the hydraulic support safety control method based on the motion state of a remote controller as described in any one of claims 1 to 8.

10. A safety control system for a hydraulic support based on the motion state of a remote controller, characterized in that, Includes the hydraulic support safety control device based on the motion state of a remote controller as described in claim 9.

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