Mine hydraulic support state monitoring and instability emergency device and regulation and control method

Abstract

The invention belongs to the technical field of fully mechanized coal mining face hydraulic support monitoring and control, and discloses a mine hydraulic support state monitoring and instability emergency device and a regulation and control method. The device comprises an indirect bottom and a direct bottom, a monitoring mechanism is used for judging whether the hydraulic support is effectively prevented from toppling or not, and a remote control mechanism is used for judging whether the hydraulic support topples towards a certain direction or not according to the judgment of the monitoring mechanism and restraining continuous toppling of the hydraulic support by controlling an electromagnet in the corresponding direction. The limiting structures are fixed to the four azimuth angles of the indirect bottom in a welding mode or a slotting mode and used for conducting correction when the relative positions of the direct bottom and the indirect bottom deviate. The method is flexible and intelligent in operation, and adapts to different instability scenes. A three-stage treatment mode is set according to the inclination angle, measures are taken in a targeted mode, and the device is more flexible than a single anti-toppling device.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic support monitoring and control technology in fully mechanized mining faces, and particularly relates to a mine hydraulic support status monitoring and instability emergency device and control method. Background Technology

[0002] Hydraulic supports are core equipment in coal mining, playing a crucial role in supporting the roof, isolating goaf areas, and ensuring the operation of equipment at the working face. Their condition directly affects mine safety and production efficiency. However, the underground environment is complex. Gravity shifts in steep working faces, lateral forces from the tail beam during coal seam mining, soft floor surfaces, and improper operation can easily lead to support instability and trigger a chain of accidents.

[0003] Currently, the attitude management of hydraulic supports relies heavily on manual labor, lacking real-time monitoring and data support, making it difficult to accurately grasp their status. Furthermore, there are shortcomings in areas such as pressure and posture fusion analysis and big data mining pressure applications. With the development of technology, the need for real-time, accurate, and automatic monitoring of the tilt status of mining hydraulic supports is becoming increasingly urgent.

[0004] The invention patent discloses a hydraulic support tilt status monitoring device (publication number CN1208118A, publication date 1999.02.17), which can present the tilt status and changes of the hydraulic support through tilt status sensing device and monitoring circuit. However, it lacks high precision and high sensitivity monitoring characteristics and cannot transmit the status information of the hydraulic support to the ground dispatch center in a timely manner. Moreover, the monitoring device is not equipped with an infrared temperature sensor, so it cannot transmit information on whether there are personnel on site and whether personnel may be injured or killed. As a result, the ground staff only know that the support has tilted, but do not understand the specific situation on site, and therefore cannot formulate relevant response measures in a timely manner, ultimately missing the best opportunity for rescue.

[0005] A utility model patent discloses an anti-tipping device for a hydraulic support (publication number CN218882185U, publication date: 20230418), which includes a hydraulic support top beam, a telescopic support structure, and an insertion part. The insertion part is detachably mounted on the connecting part and its function is to insert into the ground for stable positioning. However, this insertion into the ground can affect the working surface, causing unevenness and potholes, which is detrimental to the subsequent movement of the hydraulic support. Furthermore, the structural hardness of the ground also negatively impacts the device, resulting in relatively weak adaptability.

[0006] An invention patent discloses a mine hydraulic support status monitoring and instability emergency device (publication number CN119664409A, publication date 20250321), including a monitoring mechanism, an anti-fall mechanism, and an anti-tipping mechanism. The monitoring mechanism is used to monitor and obtain the tilt angle and the falling speed of the top beam of the hydraulic support, and transmit operation instructions to the anti-fall and anti-tipping mechanisms; the anti-fall mechanism is used to provide anti-fall support force for the top beam of the hydraulic support in a falling state; the anti-tipping mechanism is used to push the tilted hydraulic support back to its original position. However, the equipment is bulky and difficult to move manually, which is time-consuming and labor-intensive. Moreover, the anti-fall mechanism can obstruct the vision of the support workers when moving the support, which may lead to incorrect judgments by the support workers and cause accidents. The overall structure of the device is controlled by many bolts and nuts, which will rust after long-term use and cause the equipment to fail. Summary of the Invention

[0007] To overcome the problems existing in related technologies, the present invention discloses an embodiment that provides a simple structure and an emergency monitoring and control method for the condition monitoring and instability response of hydraulic supports in coal mines, which improves the safety monitoring effect of hydraulic supports.

[0008] The technical solution is as follows: A mine hydraulic support condition monitoring and instability emergency response device, the device comprising: The indirect bottom is used when the fully mechanized mining face advances forward. The hydraulic pushing mechanism pushes the scraper conveyor equipment forward. At this time, the current magnitude and direction control module supplies power in reverse, so that the electromagnet array of the indirect bottom is different from the first permanent magnet and the fourth permanent magnet, generating an attraction force and working together with the limiting structure to prevent misalignment. The direct bottom supports the upper hydraulic support components, including columns and top beams. A first permanent magnet is installed on the left and a fourth permanent magnet is installed on the right to work with the indirect bottom to suspend the hydraulic support. The second and third permanent magnets are used to fix the relative position between the direct bottom and the indirect bottom, and the second and third permanent magnets also assist in adjusting the direction of the direct bottom and the upper hydraulic support components. It can be seen that the first and fourth permanent magnets of the direct bottom and the electromagnet array of the indirect bottom are used for the suspension and uprighting of the support, and can also be used for the relative positioning of the direct bottom and the indirect bottom when the support is not suspended; The second and third permanent magnets are used to ensure that the support can maintain its direction or make minor adjustments when it is suspended because their magnetic properties are different.

[0009] Monitoring agencies are used to determine whether hydraulic supports are effectively preventing tipping. The remote control mechanism is used to control the electromagnets in the corresponding positions to prevent the hydraulic support from tilting further, based on whether the monitoring mechanism has determined whether the hydraulic support is tilting in a certain direction. The limiting structure, fixed to the four azimuth angles of the indirect bottom by welding or grooving, is used to correct for offsets when the relative positions of the direct bottom and the indirect bottom shift.

[0010] Furthermore, the indirect base includes a boss, with a third permanent magnet mounted on the upper left and upper right corners of the boss. The third permanent magnet has the same magnetism as the second permanent magnet mounted on the direct base. The hydraulic pushing mechanism is responsible for pushing the scraper conveying trough and the support frame forward. When the electromagnet is energized, it generates magnetic force to assist in anti-tilting and uprighting. The current magnitude and direction control module controls the magnitude of the magnetic force generated by the electromagnetic matrix, and changes the magnetic direction generated by the electromagnetic matrix by controlling the current direction. The longitudinal pin is used to fix the auxiliary moving module, and the transverse pin is used to fix the opening and closing of the baffle and the position of the support leg. The indirect bottom also includes a hydraulic support located in the middle of the bottom, the hydraulic support including a support and a steel anti-slip pad; When the indirect bottom is transported separately, it extends through the support column, and the steel anti-slip pad contacts the bottom plate to support the indirect bottom.

[0011] The indirect bottom also includes auxiliary moving modules located at the four corners of the bottom. The auxiliary moving modules are popped out and the indirect bottom is transported out of the working surface through the auxiliary moving modules. The auxiliary movement module includes a base, which is fixed to a spring. The spring is connected to a support leg, and a roller is fixed below the support leg.

[0012] The monitoring mechanism includes a control module, screws that fix the control module and the alarm module together, an infrared detection device for detecting whether there are staff passing by or counting the number of staff around, and an explosion-proof bulb for light warning. The control module includes a strong magnetic block for attaching the entire monitoring mechanism to the hydraulic support; an infrared monitoring data collection module for collecting, processing, and transmitting the results of the infrared detection device to the data processing module; a communication module connected to the data processing module for transmitting relevant data to the remote control mechanism; a gyroscope for monitoring the tilt state of the hydraulic support and transmitting the data to the data processing module in real time; an instruction receiving module for controlling the light and buzzer control module; a first battery for continuously powering the electronic components; and a magnetic shielding plate for isolating the strong magnetic block from the electronic components. The alarm module includes a buzzer, a support frame, and a light circuit board; When the hydraulic support tilts to different degrees, the buzzer emits warning sounds of varying degrees. The buzzer is placed on the support frame, and below the support frame is the lighting circuit board, which is connected to the first battery to provide current to the explosion-proof bulb.

[0013] The outer shell of the remote control mechanism is made of plastic explosion-proof shell. It receives data processed by the monitoring mechanism through the wireless communication module and displays it on the LCD screen through the data processing and image generation module. It communicates with the site through the dialing and receiving call module and controls the current and magnetic force of any one of the sub-electromagnets numbered 1-10 in the indirect bottom electromagnet through the wireless remote control module for returning the hydraulic support. The second battery continuously supplies power to each component. The wireless communication module, dialing and receiving call module, wireless remote control module, plastic explosion-proof housing, and data processing and image generation module are all integrated on the circuit board.

[0014] The limiting structure includes a wireless signal receiving and processing module, which receives and processes signals emitted by the remote control mechanism and controls the extension and retraction state of the single hydraulic support through the limiting control module. The first single hydraulic support and the second single hydraulic support are used to complete the longitudinal and lateral displacement of the limiting angle. The limiting angle is welded to the top of the first single hydraulic support and is corrected when the relative positions of the direct bottom and the indirect bottom shift.

[0015] Another objective of this invention is to provide a method for controlling a mine hydraulic support condition monitoring and instability emergency device, the method comprising the following steps: S1, Assembly of mine hydraulic support condition monitoring and instability emergency device; S2, when the fully mechanized mining face advances forward, the hydraulic pushing mechanism pushes the scraper conveyor equipment forward. At this time, the current magnitude and direction control module reverses the power supply to make the electromagnet array different from the first permanent magnet and the fourth permanent magnet, generating an attractive force and the limiting structure to work together to prevent misalignment. S3, when the hydraulic support tilts, the instability emergency device is immediately activated to stabilize the hydraulic support, and the monitoring mechanism determines whether the anti-tipping effect is effective; the instability emergency device includes: an electromagnet array and a first permanent magnet, a second permanent magnet, and a limit mechanism; S4. When the tilting continues, the monitoring mechanism determines that the hydraulic support is tilting in a certain direction, and then controls the electromagnet in the corresponding position to suppress the continued tilting of the hydraulic support. S5, When the hydraulic support is stable, the tilt angle of the hydraulic support is: when the tilt angle is <15°, the remote control mechanism is activated to send a fine-tuning command to the electromagnet group of the direct bottom. S6, when the hydraulic support is stable, if the tilt angle of the hydraulic support is 15° < tilt angle ≤ 30°, the remote control mechanism triggers the uprighting mode and establishes a connection with the current magnitude and direction control module. It adjusts the relevant electromagnets at the opposite tilt position of the hydraulic support, changes their supply current direction to be the same as the permanent magnet in the direct base, and provides a downward traction force at the opposite position. It adjusts the electromagnets at the same tilt position of the hydraulic support without changing the supply current direction, and provides an upward repulsive force at the same position to form a stable fulcrum. At the same time, it controls the limiting mechanism to push and straighten the direct base at different azimuth angles at different heights. It pushes tilt parameters and recommends uprighting schemes to the operators through the remote control interface. The operators remotely operate the pushing and limiting angle mechanisms to coordinate the uprighting. The monitoring mechanism monitors the stress and tilt angle changes of the hydraulic support in real time. S7. When the hydraulic support is stable, if the tilt angle of the hydraulic support is less than 30°, the remote control mechanism will initiate the emergency forced fixing procedure. The direct bottom-center electromagnet group will operate at full power to limit the further tilting of the hydraulic support to the greatest extent. At the same time, it will trigger an audible and visual alarm and transmit an emergency status signal to the monitoring center, prompting the workers to evacuate to a safe area. After confirming safety, the remote control mechanism will control the direct bottom-center electromagnet group to provide auxiliary support reaction force, and cooperate with the on-site special uprighting equipment to implement mechanical uprighting. The monitoring mechanism will monitor the status of the hydraulic support throughout the process. S8. After the hydraulic support returns to center, the monitoring mechanism continuously collects the tilt angle data of the hydraulic support. When the monitored value is stable within ±0.5°, it is determined that the return to center has met the standard. The remote control mechanism sends a reset command to the direct bottom electromagnet group, and the electromagnet array gradually reduces the magnetic force output to the standby state.

[0016] Step S3, determining whether the anti-tipping mechanism is effective through the monitoring mechanism includes: hydraulic support tilt angle: when the tilt angle is <15°, and the difference between the gyroscope output data and the data output by the hydraulic support during normal operation gradually decreases and becomes consistent, it is determined to be effective anti-tipping. Hydraulic support tilt angle: When the tilt angle is 15° < tilt angle ≤ 30°, the gyroscope output data is stabilized at a certain angle for no less than 2 minutes, and then gradually returns to the center and finally matches the output data of the hydraulic support during normal operation. This is considered as effective anti-tipping. Hydraulic support tilt angle: When the tilt angle is less than 30°, the gyroscope output data is stabilized at a certain angle and the stabilization time is not less than 10 minutes, which is considered to be effective anti-tipping. Step S4, controlling the electromagnets in the corresponding positions to suppress the continued tilting of the hydraulic support, includes: The hydraulic support establishes a connection with the current magnitude and direction control module through a remote control mechanism, directing the current to the number 1 sub-electromagnet (e.g., ...). Figure 10Tilting and adjusting the electromagnet at the opposite position of the tilting direction of the hydraulic support, the sub-electromagnet numbered 6 in the electromagnet is changed to change the direction of its supply current so that its magnetism is opposite to that of the first electromagnet in the direct bottom, providing a downward traction force at the opposite position, while increasing the current to make the sub-electromagnet numbered 6 in the electromagnet generate a stronger attraction. The sub-electromagnet numbered 1 (generated by the repulsive force and the same magnetism between the fourth permanent magnet and the electromagnet at the same location as the tilting direction of the hydraulic support) is adjusted without changing its supply current direction, only increasing the supply current to provide an upward repulsive force at the same location, so that the hydraulic support returns to a stable state; after correction, it is straightened by the limiting mechanism, including: after reset, the operation of the electromagnet matrix makes the direct bottom and its upper mechanism suspend. At this time, the second single hydraulic support moves, raising the longitudinal height of the first single hydraulic support so that it is consistent with the suspension height of the direct bottom. The operation of the first single hydraulic support provides a lateral displacement for the limiting angle, sending the limiting angle to the four azimuth angles of the direct bottom and fitting it, so that the relative position of the direct bottom and the indirect bottom is restored to its original state.

[0017] Step S5: The remote control mechanism is activated to issue fine-tuning instructions to the electromagnet group at the direct bottom, including: replacing traditional feedback control with model predictive control and matching it with PID parameter self-tuning algorithm, combined with multi-sensor fusion acquisition and high-frequency edge computing preprocessing, to accurately control the magnetic force output of sub-electromagnets numbered 1 and 6 in the corresponding area electromagnet, and to achieve automatic return to center with the slight movement of the single hydraulic support and limit angle of the limit mechanism. During the process, the monitoring agency continuously collects tilt data, which is then processed by the data processing module to distinguish between static tilt, dynamic disturbance and other scenarios, and fed back to the remote control agency through the communication module. In step S7, the remote control mechanism initiates the emergency forced fixation procedure, including: The monitoring agency issued an alarm, warning the workers at the longwall mining face to stay away from the hydraulic support and notifying the staff in the surface dispatch room. It then autonomously operated the electromagnet matrix array, determining the tilting direction of the hydraulic support based on gyroscope output data. For example, if the hydraulic support tilted to the right, the electromagnet array on the left side of the hydraulic support changed its supply current direction through the current magnitude and direction control module, making it magnetically identical to the permanent magnet in the direct current base, providing a downward traction force on the left side of the hydraulic support. The electromagnet array on the right side of the hydraulic support did not need to change its current direction, providing an upward repulsive force on the right side of the hydraulic support and increasing the supply current of the entire electromagnet matrix array to operate at maximum efficiency. Further, the limiting mechanism operated: the second hydraulic support on the left pushed the first hydraulic support parallel to the lower part of the direct current base, and the first hydraulic support pushed the limiting angle to the two lower corners on the left side of the direct current base; the second hydraulic support on the right pushed the first hydraulic support parallel to the upper part of the direct current base, and the first hydraulic support pushed the limiting angle to the two upper corners on the right side of the direct current base, stabilizing the tilt of the hydraulic support and awaiting the entry of workers with external support equipment. The electromagnet array on the left includes sub-electromagnets numbered 6 to 10. The electromagnet array on the right includes sub-electromagnets numbered 1 to 5. In step S7, a multi-condition identification algorithm is embedded in the control module of the monitoring mechanism. By analyzing the rate of change of tilt angle and the continuity of tilt direction, it distinguishes between static slow tilt and dynamic sudden tilt scenarios. At the same time, a theoretical magnetic force-actual tilt angle change calibration model is established to compare the tilt angle correction effect of the electromagnet set magnetic force and the gyroscope feedback in real time and dynamically compensate for errors.

[0018] Combining all the above technical solutions, the beneficial effects of this invention are as follows: The present invention's condition monitoring and instability emergency device includes a monitoring mechanism, a remote control mechanism, and an anti-tilting and straightening mechanism. The monitoring mechanism monitors the tilt state of the hydraulic support and whether there are workers passing by, and transmits relevant information and data to the remote control mechanism. The remote control mechanism receives information and data and controls the anti-tilting and straightening mechanism. The anti-tilting and straightening mechanism can fix the relative positions of the direct bottom and indirect bottom when the hydraulic support is pushed, stabilize the support state with magnetic force when the hydraulic support is on the verge of tilting, and assist manual straightening according to the degree of tilting after the hydraulic support tilts. During the straightening process, manual operation can be performed remotely, effectively avoiding the risk of personnel injury caused by sudden situations.

[0019] This invention offers more comprehensive and accurate monitoring, significantly improving safety. It integrates a gyroscope to monitor the support's tilt angle in real time, and an infrared detection device to detect the presence of surrounding personnel, achieving dual monitoring of both equipment and personnel safety. Compared to similar technologies that only monitor tilt, this invention supplements personnel presence information, providing comprehensive data for emergency decision-making and preventing rescue delays. Through linkage between the control module and remote control mechanism, it transmits monitoring data in real time and presents it intuitively, solving the problems of reliance on experience and delayed response in traditional manual monitoring, thus improving the timeliness and accuracy of safety warnings.

[0020] The emergency device is highly adaptable and does not affect subsequent operations. It uses electromagnets in conjunction with their magnetic force to prevent tilting and straighten the frame, replacing similar structures that are inserted into the ground. This avoids damage to the base plate, does not affect the later movement of the hydraulic support, and is not limited by ground hardness. The auxiliary movement module uses spring extension and roller design to facilitate transportation and adjustment, solving the problems of large size and laborious handling of similar equipment, without obstructing the field of vision and reducing the risk of operational misjudgment.

[0021] The structure is stable and reliable, with low maintenance costs. It reduces the number of easily rusted connectors and employs a combination of magnetic control and hydraulic drive to lower the risk of corrosion failure and improve durability. The control module has a built-in magnetic shield to prevent strong magnetic interference with electronic components, ensuring stable circuit operation and extending service life.

[0022] It is flexible and intelligent in operation, adapting to different instability scenarios. It has three levels of handling modes based on the tilt angle, taking targeted measures, which is more flexible than a single anti-tipping device; the magnetic force of each electromagnet can be individually adjusted through the remote control mechanism, and it can achieve precise return to the correct position in conjunction with the support jack, eliminating the need for manual on-site operation and reducing operational risks. Attached Figure Description

[0023] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this disclosure and, together with the description, serve to explain the principles of this disclosure; Figure 1 This is a schematic diagram of the mine hydraulic support status monitoring and instability emergency device provided in an embodiment of the present invention; Figure 2 This is a schematic diagram of the hydraulic support base of the present invention; Figure 3 This is a top view of the indirect bottom internal structure of the present invention; Figure 4 This is a schematic diagram of the indirect bottom surface of the present invention; Figure 5 This is a schematic diagram of the monitoring mechanism of the present invention; Figure 6 This is a schematic diagram of the internal structure of the monitoring mechanism of the present invention; Figure 7 This is a front view of the remote control mechanism of the present invention; Figure 8 This is a schematic diagram of the internal structure of the remote control mechanism of the present invention; Figure 9 This is a schematic diagram of the limiting structure of the present invention; Figure 10 This is a schematic diagram of the electromagnet of the present invention comprising 10 sub-electromagnets; Figure 11 This is a flowchart of the control method for the mine hydraulic support condition monitoring and instability emergency device of the present invention; Figure 12 This is a schematic diagram of the coordinate system of the limiting mechanism of the present invention; Figure 13 This is a schematic diagram of the limiting mechanism of the present invention before it is activated; Figure 14 This is a schematic diagram of the micro-movement of the limiting mechanism of the present invention; In the diagram: 1. Indirect base; 10. Boss; 11. Hydraulic pushing mechanism; 12. Lateral pin; 13. Hydraulic support; 14. Longitudinal pin; 15. Auxiliary moving module; 16. Electromagnet; 17. Current magnitude and direction control module; 101. Third permanent magnet; 131. Support; 132. Steel anti-slip pad; 150. Base; 151. Spring; 152. Baffle; 153. Roller; 154. Support leg; 2. Direct base; 20. First permanent magnet; 21. Second permanent magnet; 22. Fourth permanent magnet; 3. Monitoring mechanism; 30. Control module; 31. Screw; 32. Infrared detection device; 33. Alarm module; 34. Explosion-proof bulb; 300. Strong magnet; 301. Infrared monitoring data collection module; 302. Data processing module; 303. Command receiving module; 304. Communication module; 305. First battery; 306. Gyroscope; 307. Lighting and buzzer control module; 308. Magnetic shielding plate; 330. Buzzer; 331. Lighting circuit board; 332. Support frame; 4. Remote control mechanism; 40. Wireless communication module; 41. Dialing and call receiving module; 42. Second battery; 43. Wireless remote control module; 44. Plastic explosion-proof housing; 45. Data processing and image generation module; 46. Circuit board; 5. Limiting structure; 50. First single hydraulic support; 51. Limiting angle; 52. Second single hydraulic support; 53. Wireless signal receiving and processing module; 54. Limiting control module. Detailed Implementation

[0024] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0025] The innovation of this invention lies in the following: The core innovation of the mine hydraulic support status monitoring and instability emergency device and control method is the construction of a dual instability prevention system of "magnetic force + mechanical force" and a full-process intelligent solution. Structurally, it adopts a dual-layer magnetic collaborative design with an indirect bottom and a direct bottom. Through the magnetic interaction of electromagnet array and permanent magnet, combined with a limiting structure, it can operate without damaging the bottom plate and adapt to complex working conditions. It is supplemented by a "spring + roller" auxiliary movement module to solve the transportation problem. At the same time, a magnetic shielding plate is used to avoid strong magnetic interference, and the integrated circuit is adapted to the underground environment. In terms of monitoring, it integrates a gyroscope and an infrared detection device to achieve dual-dimensional monitoring of "support posture + personnel distribution". The data accuracy is ensured by multi-condition recognition algorithm, magnetic force-tilt angle calibration model and filtering processing, and a closed-loop feedback remote control mechanism is provided. In terms of emergency response, it has a three-level response based on the tilt angle, and the remote control mechanism supports wireless operation and visual interaction. In addition, the magnetic drive has low energy consumption, the device is integrated without obstructing the field of vision and has fewer easily corroded parts. It also forms a flexible attitude adjustment force of "traction + support" by regulating the electromagnet with current, so as to achieve stable return of the support, which completely breaks through the limitations of traditional technology.

[0026] Example 1, such as Figures 1-9 As shown in the figure, the mine hydraulic support status monitoring and instability emergency device provided in this embodiment of the invention includes an indirect base 1, a direct base 2, a monitoring mechanism 3, a remote control mechanism 4, and a limiting structure 5; Indirect bottom 1 is used to push the scraper conveyor equipment forward by hydraulic pushing mechanism 11 when the fully mechanized mining face is advancing. At this time, the current magnitude and direction control module 17 supplies power in reverse so that the electromagnet array of indirect bottom 1 is different from the first permanent magnet 20 and the fourth permanent magnet 22, generating an attraction force and working together with the limiting structure 5 to prevent misalignment. The direct base 2 supports the upper hydraulic support components, including columns, top beams, support jacks, and scraper conveyors. A first permanent magnet 20 is installed on the left side, and a fourth permanent magnet 22 is installed on the right side to work with the indirect base 1 to suspend the hydraulic support. A second permanent magnet 21 and a third permanent magnet 101 are used to fix the relative position between the direct base 2 and the indirect base 1; and the second permanent magnet 21 and the third permanent magnet 101 also assist in adjusting the direction of the direct base 2 and the upper hydraulic support components. It can be seen that the first permanent magnet 20 and the fourth permanent magnet 22 of the direct base 2 and the electromagnet array of the indirect base 1 are used for the suspension and uprighting of the support, and can also be used for the relative positioning of the direct base 2 and the indirect base 1 when the support is not suspended. The second permanent magnet 21 and the third permanent magnet 101 are devices used to ensure that the support can maintain its direction or make minor adjustments when it is suspended because the magnetic properties are different.

[0027] Monitoring unit 3 is used to determine whether the hydraulic support is effectively preventing tipping. The remote control mechanism 4 is used to control the electromagnet in the corresponding position to suppress the continued tilting of the hydraulic support, based on whether the hydraulic support has tilted in a certain direction as determined by the monitoring mechanism 3. For example, such as Figure 3 The lower side is the left side of the support, and the upper side is the right side of the support. When the support tilts to the left, the electromagnet on the lower side and the electromagnet on the left side of the support generate an upward repulsive force, while the electromagnet on the upper side and the electromagnet on the right side of the support generate a downward attractive force, which in turn stops the support from tilting. example: In essence, the main concept of magnetic levitation is that, for example, the support structure... Figure 3 The upper right corner tilts, meaning the position of the current magnitude and direction control module 17 tilts. In reality, it tilts to the right front, immediately changing the current direction of the electromagnets, or even two or three electromagnets, at its right front. This causes their magnetism to be the same as that of the permanent magnet, specifically the fourth permanent magnet 22 of the direct base 2, generating a repulsive force that provides upward support to the bracket. Then... Figure 3 In the lower left corner of the image, which is the left rear of the actual support, two or even three electromagnets change their current direction so that the magnetism of the electromagnet is opposite to that of the permanent magnet, i.e., the first permanent magnet in the direct base 2. This then generates a downward attraction on the support, thus stabilizing the support. There are ten permanent magnets 16 in total, numbered from one to ten. The one closer to the current magnitude and direction control module 17 is number 1, or the one closer to the horizontal pin 12 is number 1. Then, the magnetism of electromagnet number 1 is adjusted to be the same as that of the fourth permanent magnet 22, thus generating a repulsive force, providing an upward support force for the support. The limiting structure 5 is fixed to the four azimuth angles of the indirect base 1 by welding or grooving, and is used to correct when the relative positions of the direct base 2 and the indirect base 1 shift.

[0028] like Figure 2 , Figure 3 The indirect bottom 1 includes a boss 10, a hydraulic pushing mechanism 11, a transverse pin 12, a first hydraulic support, a longitudinal pin 14, an auxiliary moving module 15, an electromagnet 16, and a current magnitude and direction control module 17. The upper left and upper right corners of the boss 10 are jointly equipped with a third permanent magnet 101, which has the same magnetism as the second permanent magnet 21 installed on the direct base 2; the hydraulic pushing mechanism 11 is responsible for pushing the scraper conveying trough and the support frame forward; the electromagnet 16 can generate magnetic force to assist in the anti-tilting and uprighting functions after being energized; the current magnitude and direction control module 17 controls the magnitude of the current, which is the magnitude of the magnetic force generated by the electromagnetic matrix, and can also change the magnetic direction generated by the electromagnetic matrix by controlling the current direction; the longitudinal pin 14 is used to fix the auxiliary moving module, and the transverse pin 12 is used to fix the opening and closing of the baffle and the position of the support leg. like Figure 4 The first hydraulic support includes a support column 131 and a steel anti-slip pad 132; This first hydraulic support can be transported in sections. When the indirect base 1 of the support is transported separately, it can be extended through the support column 131, and the steel anti-slip pad 132 contacts the base plate to support the indirect base 1, and the auxiliary moving module 15 is popped out. The indirect base 1 is then transported out of the working surface through the auxiliary moving module 15. like Figure 4 The auxiliary moving module 15 includes a base 150, a spring 151, a baffle 152, a roller 153, and a support leg 154. The base 150 is fixed to the spring 151, and the spring 151 is connected to the support leg 154, making the auxiliary moving module 15 retractable. When the auxiliary moving module 15 is not in use, the spring 151 retracts, the baffle closes, and the horizontal pin 12 is inserted to prevent the device from popping out due to uneven floor. When the module is in use, the hydraulic support lifts the indirect base 1, the horizontal pin 12 is pulled out, the spring 151 pushes the support leg 154 to pop out, and the horizontal pin 12 is inserted again to fix the support leg 154, so that the indirect base 1 can be moved by the roller 153. like Figure 2 The direct base 2 includes a first permanent magnet 20, a second permanent magnet 21, and a fourth permanent magnet 22; The direct base 2 is used to support all the upper components. A first permanent magnet 20 is installed on its left side and a fourth permanent magnet 22 is installed on its right side. It is used to cooperate with the indirect base to make the support suspend or fix the relative position between the direct base and the indirect base. The second permanent magnet 21 is used to assist in adjusting the direction of the direct base and the upper components. like Figure 5 The monitoring mechanism 3 includes a control module 30, a screw 31, an infrared detection device 32, an alarm module 33, and an explosion-proof bulb 34; The control module 30 contains some electronic components and is the core of the monitoring device. The screw 31 fixes the control module 30 to the alarm module 33. The infrared detection device 32 is used to detect whether there are staff passing by or to count the number of staff around. The explosion-proof bulb 34 is the light warning device. like Figure 6The control module 30 includes a strong magnetic block 300, an infrared monitoring data collection module 301, a data processing module 302, an instruction receiving module 303, a communication module 304, a first battery 305, a gyroscope 306, a light and buzzer control module 307, and a magnetic shielding plate 308. The monitoring mechanism 3 is attached to the hydraulic support by a strong magnetic block 300. The infrared monitoring data collection module 301 collects and processes the detection results of the infrared detection device and transmits them to the data processing module 302. The communication module 303 is connected to the data processing module 302 and transmits the relevant data to the remote control mechanism 4. The gyroscope 306 is used to monitor the tilt state of the hydraulic support and transmit the data to the data processing module 302 in real time. The command receiving module 303 is used to control the light and buzzer control module 307. The first battery 305 can continuously power the electronic components. The magnetic shielding plate 308 is used to isolate the strong magnetic block from the electronic components and protect the electronic components from its influence. The alarm module 33 includes a buzzer 330, a support frame 332, and a light circuit board 331; When the hydraulic support tilts to different degrees, the buzzer 330 emits warning sounds of different degrees. The buzzer 330 is placed on the support frame 332. Below the support frame 332 is the light circuit board 331, which is connected to the first battery 305 to provide current to the explosion-proof bulb 34. The remote control mechanism 4 includes a wireless communication module 40, a dialing and receiving call module 41, a second battery 42, a wireless remote control module 43, a plastic explosion-proof shell 44, a data processing and image generation module 45, and a circuit board 46. The remote control mechanism 4 is encased in a plastic explosion-proof shell 44. Operators can receive data processed by the monitoring mechanism 3 via a wireless communication module 40, and display it on an LCD screen via a data processing and image generation module 45. Figure 7 As shown; staff can communicate with on-site personnel through the dialing and receiving communication module 41, and control any one of the sub-electromagnets numbered 1-10 in the electromagnets 16 on the indirect base 1 (e.g., ...) through the wireless remote control module 43. Figure 10 The magnitude of each current and the magnitude of each magnetic force are used to return the hydraulic support to its center position, and the second battery 42 continuously supplies power to each component; The wireless communication module 40, the dialing and receiving call module 41, the wireless remote control module 43, the plastic explosion-proof housing 44, and the data processing and image generation module 45 are all integrated on the circuit board 46, such as Figure 8 As shown; The limiting structure 5 is fixed to the four azimuth angles of the indirect base 1 by welding or slotting; such as Figure 9 As shown.

[0029] The wireless signal receiving and processing module 53 receives and processes the signal sent by the remote control mechanism 4, and controls the extension and retraction state of the single hydraulic support through the limit control module 54. The first single hydraulic support 50 and the second single hydraulic support 52 are used to complete the longitudinal and lateral displacement of the limit angle 51. The limit angle 51 is welded to the top of the first single hydraulic support 50, which can be corrected when the relative position of the direct base 2 and the indirect base 1 is offset.

[0030] As can be seen from the above embodiments, the present invention has the following advantages.

[0031] Safety benefits: The dual monitoring and tiered emergency response mechanism significantly reduces the rate of stent instability accidents, reduces casualties and equipment damage, and lowers the enterprise's safety liability risks.

[0032] Efficiency benefits: Automated fine-tuning and remote collaborative frame adjustment reduce the frequency of manual intervention, shorten emergency response time, improve the uptime of fully mechanized mining faces, and increase coal production.

[0033] Cost benefits: The magnetic drive design reduces mechanical wear and corrosion, lowering equipment maintenance costs; the modular transportation and auxiliary moving modules save on handling and installation time, reducing manpower input.

[0034] Commercial value: It is adaptable to complex underground working conditions, solves the pain points of traditional equipment, and can be promoted to coal mining enterprises in batches to form a profit model such as equipment sales and technical services; the technology can be extended to the field of non-coal mine support equipment, expanding the market space.

[0035] Existing methods for correcting tilting supports primarily rely on external mechanical supports. This requires workers to move the equipment to the tilted support and use a single hydraulic prop to lift one side of the hydraulic support to correct it. However, this process is highly dangerous and prone to accidents. Furthermore, magnetic levitation technology is rarely used in coal mines, except for magnetic levitation belt conveyors, magnetic levitation total stations, and magnetic levitation hoisting cages. It breaks through the traditional single-mode mechanical anti-tilting mechanism by dynamically adjusting the magnitude and direction of the magnetic force through current control. This allows for precise handling of different tilting degrees without damaging the base structure.

[0036] This invention solves the problem of "precise control of support posture under complex working conditions": traditional devices are greatly affected by the hardness and flatness of the base plate and have poor adaptability. This invention, through dual constraints of "magnetic force + mechanical force" and graded control, flexibly adapts to complex scenarios with large tilt angles, high stress and uneven base plates, and achieves precise posture correction.

[0037] This invention solves the problem of "dual protection of personnel and equipment in emergency response": previous technologies could not simultaneously ensure equipment stability and personnel safety. This invention uses infrared monitoring, audible and visual alarms, and remote control linkage to prioritize personnel evacuation in case of danger, and then implement equipment disposal, thus balancing safety and production needs.

[0038] This invention solves the problem of "convenience in equipment transportation and maintenance": traditional large emergency devices are labor-intensive to move and complex to maintain. The auxiliary moving module and low-rust structure design of this invention enable distributed transportation and convenient adjustment, reducing the frequency of maintenance and labor intensity.

[0039] This invention overcomes the prejudice that "anti-tipping must rely on mechanical insertion and fixation": the industry generally believes that mechanical insertion of the base plate is a reliable way to prevent tipping, but this invention uses magnetic interaction and limiting structure to achieve stable protection without damaging the base plate, and has stronger adaptability.

[0040] This invention overcomes the prejudice that "remote control cannot achieve precise frame alignment": In traditional understanding, frame alignment requires manual on-site operation to ensure accuracy. This invention achieves remote automated / semi-automatic frame alignment with an accuracy of ±0.5° through high-frequency monitoring with a gyroscope, PID parameter self-tuning algorithm, and precise control with an electromagnet.

[0041] Example 2, as Figure 11 As shown, a method for controlling a mine hydraulic support condition monitoring and instability emergency device includes the following steps: S1, Assembly of mine hydraulic support condition monitoring and instability emergency device; Before powering on, perform functional pre-tests on all components of the device; after powering on, input the corresponding parameter thresholds into the operation interface of the remote control mechanism 4 according to the technical parameters such as the model of the hydraulic support; complete the mechanical connection and circuit integration between the device and the support pushing jack and scraper conveyor, and debug until the linkage response of each mechanism is normal; S2, when the fully mechanized mining face advances forward, the hydraulic pushing mechanism 11 pushes the scraper conveyor equipment forward. At this time, the current magnitude and direction control module 17 supplies power in reverse to make the electromagnet array different from the first permanent magnet 20 and the fourth permanent magnet 22, generating an attractive force and the limiting structure 5 to work together to prevent misalignment. S3, when the hydraulic support tilts, the instability emergency device is immediately activated to stabilize the hydraulic support, and the monitoring mechanism 3 determines whether the anti-tipping is effective; the instability emergency device includes: an electromagnet array, a first permanent magnet 20, a second permanent magnet 21, and a limit mechanism; For example, the monitoring agency 3 determines whether the tipping prevention is effective by including: Hydraulic support tilt angle: When the tilt angle is <15°, the difference between the output data of gyroscope 306 and the output data of hydraulic support during normal operation gradually decreases and becomes consistent, which is considered to be effective anti-tipping. Hydraulic support tilt angle: When the tilt angle is 15° < tilt angle ≤ 30°, when the output data of gyroscope 306 stabilizes at a certain angle and the stabilization time is not less than 2 minutes, and then gradually returns to the normal position (the difference between the output data and the output data of the hydraulic support during normal operation gradually decreases), and finally matches the output data of the hydraulic support during normal operation, it is determined to be effective anti-tipping. Hydraulic support tilt angle: When the tilt angle is less than 30°, the gyroscope 306 output data is stable at a certain angle (the difference between the output data and the data output by the hydraulic support during normal operation no longer changes), and the stabilization time is not less than 10 minutes, it is judged as effective anti-tipping. S4, when the tilt continues to develop, the monitoring mechanism 3 determines that the hydraulic support is tilting in a certain direction, and then controls the electromagnet in the corresponding position to suppress the continued tilting of the hydraulic support. For example, the remote control mechanism 4 establishes a connection with the current magnitude and direction control module 17, and the hydraulic support directs the current to the sub-electromagnet numbered 1 in the electromagnet 16 (such as...). Figure 10 Tilting, adjusting the electromagnet 6 in the electromagnet 16 at the opposite position of the tilting position of the hydraulic support, changing the direction of its supply current, so that its magnetism is opposite to that of the first electromagnet 20 in the direct base 2, providing a downward traction force at the opposite position, and at the same time increasing the current so that the electromagnet 6 in the electromagnet 16 generates a stronger attraction. The sub-electromagnet numbered 1 in the electromagnet 16 at the same location as the tilting position of the hydraulic support (generated by the repulsive force and the same magnetism between the fourth permanent magnet) is adjusted without changing its supply current direction, only increasing the supply current to provide an upward repulsive force at the same location, so that the hydraulic support returns to a stable state; after correction, it is corrected by the limiting mechanism 5, including: after reset, the operation of the electromagnet matrix makes the direct base 2 and its upper mechanism suspend. At this time, the second single hydraulic support 52 operates, raising the longitudinal height of the first single hydraulic support 50 so that it is consistent with the suspension height of the direct base 2. The operation of the first single hydraulic support 50 provides a lateral displacement for the limiting angle 51, sending the limiting angle 51 to the four azimuth angles of the direct base 2 and fitting it, so that the relative position of the direct base 2 and the indirect base 1 is restored to its original state.

[0042] S5, when the hydraulic support is stable, the tilt angle of the hydraulic support: when the tilt angle is <15°, the remote control mechanism 4 is activated to send a fine-tuning command to the electromagnet group of the direct base 2. Model predictive control replaces traditional feedback control and is combined with a PID parameter self-tuning algorithm, along with multi-sensor fusion acquisition and high-frequency edge computing preprocessing, to precisely control the sub-electromagnets numbered 1 and 6 in the corresponding region of electromagnet 16 (e.g., ...). Figure 10 The magnetic output of the limit mechanism 5, combined with the slight movement of the single hydraulic support and the limit angle 51, achieves automatic return to center. During the process, the monitoring agency 3 continuously collects tilt data. After the data processing module 302 distinguishes between static tilt, dynamic disturbance and other scenarios, it feeds back to the remote control agency 4 through the communication module, further improving the control accuracy and response efficiency.

[0043] For example, replacing traditional feedback control with model predictive control and combining it with a PID parameter self-tuning algorithm, along with multi-sensor fusion acquisition and high-frequency edge computing preprocessing, includes: First, performing high-frequency edge preprocessing on the raw data acquired by multiple sensors, using an outlier identification algorithm to remove abnormal data points caused by environmental interference and equipment noise; then, using a Kalman filter algorithm to perform noise reduction and smoothing on the preprocessed data to improve data reliability; based on the filtered effective data, extracting key feature parameters related to magnetic control (such as pressure, displacement, attitude, etc.) and constructing a preliminary magnetic demand mapping relationship; inputting this mapping relationship into a preset predictive control model, and achieving dynamic prediction of magnetic demand by solving the model predictive control optimization problem; finally, completing the self-tuning of the PID controller parameters based on the prediction results, and ultimately calculating the optimal control current range of the output electromagnet to ensure that the magnetic output accurately matches the actual working condition requirements.

[0044] S6, when the hydraulic support is stable, if the tilt angle of the hydraulic support is 15° < tilt angle ≤ 30°, the remote control mechanism 4 triggers the uprighting mode and establishes a connection with the current magnitude and direction control module 17. It adjusts the relevant electromagnets at the opposite tilt position of the hydraulic support, changes their supply current direction so that they are magnetically identical to the permanent magnet in the direct base 2, and provides a downward traction force at the opposite position. It adjusts the electromagnets at the same tilt position of the hydraulic support without changing their supply current direction, and provides an upward repulsive force at the same position to form a stable fulcrum. At the same time, it controls the limiting mechanism 5 to push and straighten the direct base 2 at different azimuth angles at different heights. It pushes tilt parameters and recommends uprighting schemes to the operators through the remote control interface. The operators remotely operate the pushing and limiting angle mechanisms to coordinate the uprighting. The monitoring mechanism monitors the stress and tilt angle changes of the hydraulic support in real time to ensure that the uprighting process is safe and controllable. It can be seen that in the process of pushing and straightening the direct base 2 at different azimuth angles at different heights, the control limit mechanism 5 is equipped with an independent limit mechanism controller at each of the four corners. By injecting hydraulic oil of different volumes into the controller, the limit mechanism is controlled to rise to different heights.

[0045] S7. When the hydraulic support is stable, if the tilt angle of the hydraulic support is less than 30°, the remote control mechanism 4 will initiate the emergency forced fixing procedure. The electromagnet group (magnetic stabilizing components, including the first permanent magnet 20, the second permanent magnet 21, and the fourth permanent magnet 22) in the direct base 2 (anti-tilting and straightening mechanism) will operate at full power to limit the further tilting of the hydraulic support to the greatest extent. At the same time, it will trigger an audible and visual alarm and transmit an emergency status signal to the monitoring center, prompting the workers to evacuate to a safe area. After confirming safety, the remote control mechanism 4 will control the electromagnet group in the direct base 2 (anti-tilting and straightening mechanism) to provide auxiliary support reaction force. In conjunction with the manual on-site use of special straightening equipment, mechanical straightening will be carried out. The monitoring mechanism 3 will monitor the status of the hydraulic support throughout the process to avoid secondary instability during the straightening process. For example, the remote control device 4 initiates the emergency forced fixation procedure, including: Monitoring agency 3 issues an alarm, warning workers at the fully mechanized mining face to stay away from the hydraulic support, and notifies the staff in the surface dispatch room. It then autonomously operates the electromagnet matrix array, determining the tilting direction of the hydraulic support based on data output from gyroscope 306. For example, if the hydraulic support tilts to the right, the electromagnet array on the left side of the hydraulic support changes its current direction through the current magnitude and direction control module 17, making it magnetically identical to the permanent magnet in the direct base 2, providing a downward traction force on the left side of the hydraulic support. The electromagnet array on the right side of the hydraulic support does not need to change its current direction, providing an upward repulsive force on the right side of the hydraulic support, and increasing... The supply current to the entire electromagnet matrix array is increased to enable it to operate at maximum efficiency. Further, the limiting mechanism 5 operates, and the second single hydraulic support 52 on the left pushes the first single hydraulic support 50 to be parallel to the lower part of the direct base 2. The first single hydraulic support 51 pushes the limiting angle to the two lower corners on the left side of the direct base. The second single hydraulic support 52 on the right pushes the first single hydraulic support 50 to be parallel to the upper part of the direct base 2. The first single hydraulic support 50 pushes the limiting angle 51 to the two upper corners on the right side of the direct base, stabilizing the tilt state of the hydraulic support and waiting for the staff to bring in the external support equipment.

[0046] The left electromagnet array includes sub-electromagnets numbered 6 to 10 out of electromagnet 16; The right-side electromagnet array includes sub-electromagnets numbered 1 to 5 out of electromagnet 16. For example, a multi-condition identification algorithm is embedded in the control module 30. By analyzing the rate of change of tilt angle and the continuity of tilt direction, it accurately distinguishes scenarios such as "static slow tilt" and "dynamic sudden tilt." Simultaneously, a calibration model of "theoretical magnetic force - actual tilt angle change" is established to compare the tilt angle correction effect of the electromagnet's set magnetic force and the feedback from the gyroscope 306 in real time, dynamically compensating for errors. To address downhole vibration interference, a Kalman wave processing algorithm is used to filter the tilt angle data collected by the gyroscope 306, eliminating abnormal data generated by instantaneous vibrations and improving monitoring stability.

[0047] For example, a multi-condition identification algorithm includes: Threshold determination method: preset feature thresholds (such as tilt angle, tilt rate), if the threshold is exceeded, it is determined to be the corresponding working condition; Support Vector Machine (SVM): It maps features to a high-dimensional space through kernel functions, finds the optimal classification hyperplane for the working conditions, and has strong generalization ability. Random Forest / Decision Tree: A tree-shaped classifier built based on feature thresholds, offering strong interpretability; Specifically, the multi-condition identification algorithm includes: feature extraction after signal preprocessing combined with classifiers such as SVM / random forest to output the condition.

[0048] For example, establishing a calibration model for "theoretical magnetic force - actual tilt angle change" includes: constructing a comprehensive error model that includes the permanent magnetic field deviation of the electromagnet itself and the distortion of the magnetic field by the surrounding magnetic materials; using principal component analysis to extract error feature vectors; calculating the contribution rate of each error type; prioritizing compensation for error terms that have a large impact on the tilt angle; and achieving dynamic matching between the theoretical magnetic force and the actual tilt angle correction effect.

[0049] For example, dynamic error compensation includes: real-time acquisition of the electromagnet's set magnetic force and the gyroscope's tilt angle feedback; calculation of the deviation between the theoretical and actual correction effects; outputting a compensation amount based on the proportional and integral terms of the deviation; rapidly suppressing static errors and eliminating accumulated errors; and, combined with adaptive Kalman filtering, updating the compensation model parameters in real time to adapt to changes in operating conditions. The compensation amount is fed back to the electromagnet control module to adjust the magnetic force output, and the tilt angle is detected again via the gyroscope to verify the compensation effect.

[0050] S8. After the hydraulic support returns to its upright position, the monitoring mechanism 3 continuously collects the tilt angle data of the hydraulic support. When the monitoring value is stable within ±0.5° for 3 consecutive minutes, it is determined that the return to the upright position has been achieved. The remote control mechanism 4 sends a reset command to the electromagnet group in the direct base 2 (anti-tilt and upright mechanism). The electromagnet array gradually reduces the magnetic force output to the standby state.

[0051] For example, step S1 specifically includes the following steps: Assuming the hydraulic support has a mass of m = 40t, the gravitational acceleration at this location is g = 9.81 N / kg (this value varies depending on depth and latitude / longitude), and the safety factor is K = 1.2; then the total weight of the hydraulic support is: G = m * g = 392400 N; the required magnetic levitation force is: F_buoyancy = G * K = 470880 N; a total of 10 sets of electromagnets are used; then the magnetic force required for a single set of electromagnets is: F_single = 47088 N; the vacuum permeability is: μ0 = 4π * 10⁻⁷ H / m; assuming the core cross-sectional area is: A = 0.16 m² (0.4 m * 0.4 m); the magnetic induction intensity is: In the formula: F = F_single; therefore, B ≈ 0.860T.

[0052] The saturation value of the silicon steel core is 1.5 T-2.0 T, with 0.860 T outside this range, posing no risk of saturation. NI = BL / (μ0*μr); where: I is the current magnitude; N is the number of coil turns; L is the magnetic circuit length; μr is the relative permeability; the relative permeability of the silicon steel material μr = 4000 H / m; assuming the magnetic circuit length L = 1.2 m; then NI = 205.310 amp-turns; to provide the electromagnet with a current of I = 30 A; then N = 7 turns; assuming the cross-sectional area of ​​the copper wire Awire = 70 mm2. 2 The resistivity of the copper wire is ρ = 1.68 * 10⁻⁸ Ω * m; the total resistance of the copper wire is R_total = ρ * L_wire / A_wire; therefore, the total resistance of the copper wire is R_total ≈ 0.0027 Ω; the required voltage is V = I * R_total; therefore, V = 0.081 V; the power is P = I * V = 30 A * 0.081 V = 2.43 W.

[0053] The appropriate iron core, electromagnet material, copper wire diameter, current magnitude, electromagnet cross-sectional area, and number of electromagnets can be selected in advance according to the above formula, and then the resulting levitation force can be calculated. Then, a suitable indirect base and electromagnets can be fabricated.

[0054] For example, in step S7, the data processing process for automatic return to center is achieved by the slight movement of the individual hydraulic support of the limiting mechanism 5 and the limiting angle 51. Figure 12 This is a schematic diagram of the 5-coordinate system for the limiting mechanism; as shown below. Figure 13 This is a schematic diagram of the limit mechanism 5 before it is activated. Figure 14 This is a schematic diagram of the limit mechanism 5 before its micro-movement. Specifically, the parameters are set as follows: H is the original height of the limiting mechanism, △H is the lifting height, △h is the extension length, S is the direct bottom length, and α is the bracket tilt angle. Then, for the left limiting mechanism of the bracket: lifting: S*sinα=△Hleft; extending to the right: SS*cosα=△hleft; for the right limiting mechanism of the bracket: lifting: l*cosα=△Hright; extending to the left: -l*sinα=△hright. At this time, the left limiting mechanism is in contact with the two lower left corners of the direct bottom, and the right limiting mechanism is in contact with the two upper right corners of the direct bottom; Next, the left limiting mechanism extends to the right by L-△h left, and the right limiting mechanism extends to the left by L-△h right, which will straighten the bracket and maintain its original state.

[0055] As can be seen from the above embodiments, the present invention discloses a mine hydraulic support status monitoring and instability emergency device, which deeply integrates magnetic adjustment technology, intelligent monitoring system and graded emergency mechanism to form a complete solution for the instability problem of mine hydraulic supports, breaking through the limitation of traditional supports relying on single mechanical structure protection.

[0056] In terms of structural design, a dual-layer magnetic structure with both indirect and direct bases is adopted. Through the magnetic interaction between electromagnets and an electromagnet matrix (like poles repel to achieve levitation, and unlike poles attract to enhance fixation), combined with the physical constraints of the limiting structure, a dual anti-instability system of "magnetic force + mechanical force" is constructed. This design can not only flexibly adapt to complex working conditions with uneven base plates, but also change the magnitude and direction of the magnetic force in real time through current regulation, realizing dynamic correction of the support posture, and solving the problems of traditional support leveling relying on manual operation and slow response.

[0057] The gyroscope precisely captures the tilt angle of the support frame, while the infrared device monitors the surrounding personnel's status in real time. The data from both is processed by the control module and then fed back to the remote control mechanism via a communication module, forming a closed-loop feedback system. This dual-dimensional monitoring of "equipment status + personnel and environment" provides precise data support for emergency response and prioritizes personnel safety in the event of a hazard, filling the gap in traditional monitoring that only focuses on the equipment itself.

[0058] The tiered design of the emergency response mechanism employs differentiated strategies—automatic fine-tuning, semi-automatic coordination, and emergency forced fixation—for different tilt angles (<15°, 15°-30°, >30°), achieving a step-by-step response from early warning to disposal. Specifically, the automatic electromagnet return to center at small tilt angles and the linkage between full-power magnetic braking and personnel evacuation alerts at large tilt angles embody the principle of "intelligent priority, supplemented by manual intervention," significantly improving the efficiency and safety of emergency response.

[0059] In addition, the telescopic design of the auxiliary moving module (spring-driven + pin-fixed) solves the pain point of the distributed transportation of the support, making the switching between the indirect base and the working state convenient and efficient; the application of the magnetic shielding plate avoids the interference of strong magnetic fields on electronic components and ensures the stability of the monitoring system; the wireless communication and data visualization functions of the remote control mechanism realize remote collaboration between "ground decision-making and downhole execution" and reduce the frequency of personnel entering high-risk areas.

[0060] Application Example 1. A deep, high-stress fully mechanized mining face with a burial depth of 800m and a ground stress of 30MPa is selected. The core challenges in this scenario are: high frequency of support tilting and instability due to concentrated ground stress; a hard and uneven floor; susceptibility to strong magnetic interference during long-term equipment operation; and limited space for emergency operations. Two identical 40t hydraulic supports are selected. (a) Monitoring data integrity and anti-interference capability; The monitoring mechanism 3 in this invention has a built-in magnetic shielding plate to isolate strong magnetic blocks from interfering with electronic components. The gyroscope transmits support tilt data in real time, and the infrared detection device accurately counts the number of workers. A closed-loop transmission is formed with the remote control mechanism through the communication module. Its data processing module can stably receive continuous data from the gyroscope and infrared detection device without signal interruption; moreover, the infrared detection device has a personnel counting function, providing feedback on both "equipment status" and "personnel distribution" data. Existing infrared temperature sensors in monitoring agencies can only monitor body temperature and cannot count the number of people. They can only provide single-dimensional data of "equipment status + whether there are people" and cannot support the judgment of personnel distribution in emergency decision-making. The core improvements of this invention are: enhancing data transmission anti-interference through magnetic shielding plate design; filling the data dimension gap in existing technology with personnel counting function of infrared detection device; and achieving more comprehensive monitoring data and more stable transmission through "dual monitoring + anti-interference design". (ii) Adaptability of emergency anti-tipping and uprighting mechanisms; The anti-tilting and straightening mechanism in this invention employs 10 sets of electromagnets and permanent magnets. The magnetic force is controlled by a current magnitude and direction control module 17, which can fix the relative positions of the direct and indirect bottoms during sliding. It also provides a graded response based on the tilt angle: automatic fine-tuning for <15°, semi-automatic straightening for 15°-30°, and emergency forced fixing for >30°. Its magnetic drive method eliminates the need for insertion into the base plate, making it suitable for hard base plate conditions. Furthermore, the limiting angle and magnetic force work together to constrain and prevent further instability of the support structure.

[0061] In the existing technology, the anti-tipping mechanism relies on the mechanical support of the first telescopic motor and the push rod. The push rod needs to contact the base plate to achieve the push and reset. It is easy to slip on the deep and hard base plate, and the mechanical stroke is fixed, so it is impossible to accurately adjust the support force according to the degree of tilt. The spring pin and through hole matching structure of the anti-fall mechanism is prone to jamming under high stress, and the emergency response flexibility is insufficient.

[0062] The core improvement of this invention is the "magnetic drive + graded response" design, which is suitable for hard base plate conditions. The precise control of the magnetic output of a single electromagnet of 47088N solves the problems of poor adaptability and inaccurate adjustment of existing mechanical support.

[0063] (iii) Equipment structural reliability and maintainability; This invention employs a combination of magnetic control and hydraulic drive to reduce the use of easily corroded connecting parts such as bolts and nuts. The auxiliary moving module, through a spring-loaded telescopic and roller structure, can be hydraulically supported to lift the indirect base on uneven deep working surfaces, and its position can be easily adjusted with the help of rollers, eliminating the need for complex manual operation. The device can be transported in parts; when the indirect base is transported separately, it is handled by the support pillars and the auxiliary moving module, making handling more convenient.

[0064] In existing technologies, the overall structure relies on bolt and nut connections, which are prone to corrosion and failure in humid underground environments; there is no special moving auxiliary structure, and the equipment needs to be manually calibrated for mechanical parts when moving, which is time-consuming and labor-intensive in deep working surfaces with uneven bottom plates; in addition, the spring pins, compression spring groups and other components of the anti-fall mechanism are prone to wear under long-term high stress, and the maintenance frequency is high.

[0065] The core improvement of this invention is the "low-rust structure + auxiliary moving module" design, which reduces the risk of equipment failure, improves the convenience of handling and maintenance, and solves the problems of existing technology structures relying on bolts and having high maintenance costs.

[0066] (iv) Remote control and energy consumption performance; The remote control mechanism 4 in this invention is equipped with a wireless remote control module, which can precisely control the magnetic force of each group of electromagnets. With the help of the dialing and receiving call module, staff can remotely control the erection process in a safe area. Moreover, the device has a power of only 2.43W, low energy consumption, and can be operated continuously for a longer time with battery power.

[0067] Although existing technologies transmit data via 5G communication modules, remote control is only for the fixed movements of the telescopic motor and cannot achieve fine-grained adjustment; moreover, the motor push rod drive consumes a lot of energy, and the power supply module requires frequent battery replacements, which affects the continuity of monitoring and emergency response.

[0068] The core improvement of this invention is "precise remote control + 2.43W low power consumption design", which makes emergency operations safer and consumes less energy, and solves the problems of rough remote adjustment and high energy consumption in existing technologies.

[0069] (v) Comparison of transportation methods; In this invention, the components and modules adopt an integrated design concept. While fully retaining the original functions of the hydraulic support, core functions such as monitoring and emergency response are added, deeply integrating with the hydraulic support into a whole. During the installation and retraction phases, the device can be transported as a whole with the hydraulic support, eliminating the need for manual handling of the separate device and greatly simplifying the operation process. At the same time, the device supports a distributed transportation mode. With the rollers and telescopic structure of the auxiliary moving module, it can be flexibly adjusted and moved underground. During transportation and operation, it will not obstruct the observation field of the workers, nor will it occupy the equipment operating space or manual passage, ensuring that the normal operation rhythm of the working face is not affected.

[0070] In existing technologies, the equipment is designed as an independent, separate unit, not integrated with the hydraulic supports. This requires separate, additional transportation, and the equipment size needs to be adjusted according to different support models. In narrow working spaces such as low-seam coal seams, equipment handling and movement are difficult, requiring laborious manual transport, significantly increasing labor intensity and reducing overall work efficiency. Furthermore, the large size of the equipment obstructs workers' view of the coal mining machine's operation and occupies limited manual passageways. The anti-tipping mechanisms on both sides also force an increase in the spacing between hydraulic supports, thus weakening the overall support effect of the working face.

[0071] The core improvement of this invention is that through the innovative design of "integrated system + auxiliary mobile module", it realizes convenient equipment transportation and zero occupation of working space, effectively solving the multiple pain points of existing technologies such as the need for additional transportation, high labor intensity, obstruction of on-site operation and poor working face support effect.

[0072] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A mine hydraulic support state monitoring and instability emergency device, characterized in that, The device comprises: The indirect bottom (1) is used for pushing the scraper conveying equipment forward by the hydraulic pushing mechanism (11) when the fully mechanized working face is pushed forward, at this time, the electromagnetic iron magnetic array of the indirect bottom (1) is opposite to the first permanent magnet (20) and the fourth permanent magnet (22) by the reverse power supply of the current size and direction control module (17), so that the attraction force is generated and cooperates with the limiting structure (5) to prevent misplacement; The direct bottom (2) is used for supporting the hydraulic support member including the column and the top beam, the first permanent magnet (20) is installed on the left side, the fourth permanent magnet (22) is installed on the right side, which is used for cooperating with the indirect bottom (1) to make the hydraulic support float, the second permanent magnet (21) and the third permanent magnet (101) are used for fixing the relative position between the direct bottom (2) and the indirect bottom (1); and the second permanent magnet (21) and the third permanent magnet (101) assist in adjusting the direction of the direct bottom (2) and the upper hydraulic support member; The monitoring mechanism (3) is used for judging whether the hydraulic support is effectively prevented from falling; The remote control mechanism (4) is used for judging whether the hydraulic support is tilted in a certain direction by the monitoring mechanism (3), and suppressing the continuous tilting of the hydraulic support by controlling the electromagnetic iron in the corresponding direction; The limiting structure (5) is fixed in four direction angles of the indirect bottom (1) in a welding or slotting manner, and is used for correcting when the relative position of the direct bottom (2) and the indirect bottom (1) is deviated.

2. The mine hydraulic support state monitoring and instability emergency device according to claim 1, characterized in that, The indirect bottom (1) comprises a boss (10), the upper left corner and the upper right corner of the boss (10) are jointly provided with the third permanent magnet (101), the magnetic property between the third permanent magnet (101) and the second permanent magnet (21) installed on the direct bottom (2) is the same; the hydraulic pushing mechanism (11) is responsible for pushing the scraper conveying groove and the support forward; the electromagnetic iron (16) generates magnetic force after being energized to assist in preventing tilting and erecting, the current size and direction control module (17) controls the magnetic force generated by the electromagnetic matrix, and the magnetic direction generated by the electromagnetic matrix is changed by controlling the current direction; the longitudinal bolt (14) is used for fixing the auxiliary moving module, and the transverse bolt (12) is used for fixing the position of the baffle opening and closing and the supporting leg.

3. The mine hydraulic support state monitoring and instability emergency device according to claim 2, characterized in that, The indirect bottom (1) further comprises a hydraulic support (13) located in the middle of the bottom, and the hydraulic support (13) comprises a support (131) and a steel anti-skid pad (132); When the indirect bottom (1) is transported alone, the support (131) is extended, and the steel anti-skid pad (132) contacts the bottom plate to support the indirect bottom (1).

4. The mine hydraulic support state monitoring and instability emergency device according to claim 2, characterized in that, The indirect bottom (1) further comprises an auxiliary moving module (15) located at four corners of the bottom, the auxiliary moving module (15) is popped out, and the indirect bottom (1) is transported out of the working face by the auxiliary moving module (15); The auxiliary moving module (15) comprises a base (150), the base (150) is fixed with a spring (151), the spring (151) is connected with a supporting leg (154), and a roller (153) is fixed below the supporting leg (154).

5. The mine hydraulic support state monitoring and instability emergency device according to claim 1, characterized in that, The monitoring mechanism (3) comprises a control module (30), a screw (31) fixedly connecting the control module (30) and an alarm module (33), an infrared detection device (32) for detecting whether there is a staff passing by or counting the number of staffs around, and an explosion-proof bulb (34) for light warning; The control module (30) comprises a strong magnetic block (300) for adsorbing the monitoring mechanism (3) on the hydraulic support, an infrared monitoring data collection module (301) for collecting, processing and transmitting the detection results of the infrared detection device to a data processing module (302), a communication module (303) connected with the data processing module (302) for transmitting relevant data to the remote control mechanism (4), a gyroscope (306) for monitoring the inclination state of the hydraulic support and transmitting data to the data processing module (302) in real time, an instruction receiving module (303) for controlling the light and buzzer control module (307), a first battery (305) for continuously supplying power to the electronic elements, and a magnetic isolation plate (308) for isolating the strong magnetic block from the electronic elements. The alarm module (33) comprises a buzzer (330), a support frame (332) and a light circuit board (331). When the hydraulic support is inclined to different degrees, the buzzer (330) emits different degrees of warning sound, the buzzer (330) is placed on the support frame (332), and the light circuit board (331) is below the support frame (332) and connected with the first battery (305) to provide current for the explosion-proof bulb (34).

6. The mine hydraulic support state monitoring and instability emergency device according to claim 1, characterized in that, The shell of the remote control mechanism (4) is made of a plastic explosion-proof shell (44), the processed data of the monitoring mechanism (3) are received by a wireless communication module (40), and the data are displayed on a liquid crystal screen by a data processing and image generation module (45), the on-site communication is realized by a dialing and receiving call module (41), and the current size and magnetic force of any one of the sub-electromagnets numbered 1-10 in the electromagnet (16) on the indirect bottom (1) are controlled by a wireless remote control module (43) to correct the hydraulic support, and a second battery (42) continuously supplies power to each element. The wireless communication module (40), the dialing and receiving call module (41), the wireless remote control module (43), the plastic explosion-proof shell (44) and the data processing and image generation module (45) are integrated on a circuit board (46).

7. The mine hydraulic support state monitoring and instability emergency device according to claim 1, characterized in that, The limiting structure (5) comprises a wireless signal receiving and processing module (53) for receiving and processing the signals emitted by the remote control mechanism (4) and controlling the extension state of the single hydraulic support through a limiting control module (54), the first single hydraulic support (50) and the second single hydraulic support (52) are used to complete the longitudinal displacement and transverse displacement of the limiting angle (51), and the limiting angle (51) is welded at the top of the first single hydraulic support (50) to correct the relative position deviation between the direct bottom (2) and the indirect bottom (1).

8. A method for regulating a mine hydraulic support state monitoring and instability emergency device, characterized in that, The method is implemented in the regulating device of the mine hydraulic support state monitoring and instability emergency device according to any one of claims 1-7, and comprises the following steps: S1, the assembly of the mine hydraulic support state monitoring and instability emergency device; S2, when the fully mechanized coal mining face is forward advanced, the hydraulic pushing mechanism (11) pushes the scraper conveying equipment forward, at this time, the electromagnetic magnet array and the first permanent magnet (20) and the fourth permanent magnet (22) are opposite to each other through the current size and direction control module (17) to provide reverse power supply, so that the attraction force and the limiting structure (5) jointly act to prevent misplacement; S3, when the hydraulic support is tilted, the instability emergency device is immediately started to stabilize the hydraulic support, and whether the effective anti-toppling is judged through the monitoring mechanism (3); The instability emergency device comprises: an electromagnetic magnet array, a first permanent magnet (20), a second permanent magnet (21) and a limiting mechanism; S4, when the tilting continues to develop, whether the hydraulic support is tilted to a certain direction is judged through the monitoring mechanism (3), and then the electromagnetic magnet in the corresponding direction is controlled to inhibit the continuous tilting of the hydraulic support; S5, when the hydraulic support is stable, the hydraulic support tilting angle: when the tilting angle is less than 15°, the remote control mechanism (4) sends a fine adjustment instruction to the electromagnetic magnet group of the direct base (2); S6, when the hydraulic support is stable, the hydraulic support tilting angle: when the tilting angle is greater than 15° and less than or equal to 30°, the remote control mechanism (4) triggers the normal support mode and establishes contact with the current size and direction control module 17, adjusts the related electromagnetic magnets at the opposite direction of the tilting direction of the hydraulic support, changes the supply current direction, and provides a downward traction force at the opposite direction of the tilting direction of the hydraulic support, adjusts the electromagnetic magnets at the same direction of the tilting direction of the hydraulic support, does not change the supply current direction, and provides an upward repulsive force at the same direction of the tilting direction of the hydraulic support to form a stable fulcrum, at the same time, the limiting mechanism (5) is controlled to push and right the different azimuth angles of the direct base (2) at different heights, the tilting parameters and the recommended normal support scheme are pushed to the workers through the remote control interface, the workers remotely operate the pushing and limiting angle mechanism to cooperate with the normal support, and the monitoring mechanism monitors the stress and tilting angle change of the hydraulic support in real time; S7, when the hydraulic support is stable, the hydraulic support tilting angle: when the tilting angle is greater than 30°, the remote control mechanism (4) starts the emergency forced fixing program, the electromagnetic magnet group in the direct base (2) operates at full power to limit the further tilting of the hydraulic support to the greatest extent, at the same time, the audible and light alarm is triggered and the emergency state signal is transmitted to the monitoring center, prompting the workers to evacuate to the safe area; after confirming the safety, the electromagnetic magnet group in the direct base (2) provides auxiliary support reaction force through the remote control mechanism (4), cooperates with the special normal support equipment on site to implement mechanical normal support, and the monitoring mechanism (3) monitors the state of the hydraulic support throughout the process; S8, after the hydraulic support is returned to normal, the monitoring mechanism (3) continuously collects the tilting angle data of the hydraulic support, when the monitoring value is stable in the range of ±0.5°, it is determined that the return to normal is up to standard; the remote control mechanism (4) sends a reset instruction to the electromagnetic magnet group in the direct base (2), and the electromagnetic magnet array gradually reduces the magnetic force output to the standby state.

9. The method according to claim 8, characterized in that, In step S3, the judgment of whether the effective anti-toppling is made by the monitoring mechanism (3) includes: when the hydraulic support inclination angle is less than 15°, the difference between the output data of the gyroscope (306) and the output data of the hydraulic support in normal operation gradually decreases and is consistent, which is determined as effective anti-toppling; when the hydraulic support inclination angle is 15° to 30°, the output data of the gyroscope (306) is stable at a certain angle and the stable time is not less than 2 minutes, then gradually returns to normal, and finally is consistent with the output data of the hydraulic support in normal operation, which is determined as effective anti-toppling; when the hydraulic support inclination angle is more than 30°, the output data of the gyroscope (306) is stable at a certain angle and the stable time is not less than 10 minutes, which is determined as effective anti-toppling; In step S4, the continuous toppling of the hydraulic support is suppressed by controlling the electromagnet of the corresponding direction, which includes: Through the remote control mechanism (4) and the current size and direction control module (17), the hydraulic support is inclined to the sub-electromagnet No. 1 in the electromagnet (16), the electromagnet No. 6 in the electromagnet (16) at the opposite direction of the toppling direction of the hydraulic support is debugged, the supply current direction is changed, the magnetic property of the electromagnet No. 6 in the electromagnet (16) is made different from the first electromagnet (20) in the direct base (2), a downward traction is provided at the opposite direction, and the supply current is increased to make the electromagnet No. 6 in the electromagnet (16) produce a strong attractive force; The electromagnet No. 1 in the electromagnet (16) at the same direction of the toppling direction of the hydraulic support is debugged, the supply current direction is not changed, and only the supply current is increased to provide an upward repulsive force at the same direction, so that the hydraulic support returns to a stable state; after correction, the position limiting mechanism (5) is adjusted, including: after reset, the electromagnet matrix runs to make the direct base (2) and the upper mechanism thereof suspended, at this time, the second single hydraulic support (52) runs to increase the longitudinal height of the first single hydraulic support (50), so that the first single hydraulic support (50) is consistent with the suspension height of the direct base (2), the first single hydraulic support (50) provides a horizontal displacement for the position limiting angle (51), the position limiting angle (51) is sent to the four direction angles of the direct base (2) and is attached, so that the relative position of the direct base (2) and the indirect base (1) is restored to the original state.

10. The method according to claim 8, characterized in that, In step S5, the remote control mechanism (4) sends a fine adjustment instruction to the electromagnet group of the direct base (2), which includes: through model prediction control instead of traditional feedback control and combined with PID parameter self-tuning algorithm, combined with multi-sensor fusion collection and high-frequency edge computing preprocessing, the magnetic force output of the electromagnet No. 1 and No. 6 in the corresponding area electromagnet (16) is accurately controlled, the automatic return is realized by the micro-motion of the single hydraulic support and the position limiting angle (51) of the position limiting mechanism (5), and the monitoring mechanism (3) continuously collects inclination data during the process, which is distinguished by the data processing module (302) according to scenes such as static inclination and dynamic disturbance, and then is fed back to the remote control mechanism (4) through the communication module; In step S7, the remote control mechanism (4) starts the emergency forced fixing program, which includes: The monitoring mechanism (3) sends an alarm to alert the fully mechanized working face staff to stay away from the hydraulic support, and notifies the on-site dispatch room staff, and independently runs the electromagnet matrix array, judges the hydraulic support dumping direction according to the gyroscope (306) output data, and the hydraulic support dumps to the right. If the left electromagnet array of the hydraulic support changes its supply current direction through the current size and direction control module (17) so that it is the same as the magnetic properties of the permanent magnet in the direct base (2), it provides a downward pulling force at the left side of the hydraulic support. The right electromagnet array of the hydraulic support provides an upward repulsive force at the right side of the hydraulic support without changing the current direction, and increases the supply current of the entire electromagnet matrix array to operate at maximum efficiency, and further limits the operation of the limiting mechanism (5). The left second single hydraulic support (52) pushes the first single hydraulic support (50) to be parallel to the lower part of the direct base (2), the first single hydraulic support (51) pushes the limiting angle to the two lower top corners on the left side of the direct base, the right second single hydraulic support (52) pushes the first single hydraulic support (50) to be parallel to the upper part of the direct base (2), and the first single hydraulic support (50) pushes the limiting angle (51) to the two upper top corners on the right side of the direct base, so that the inclination state of the hydraulic support is stable, and the staff carries external aid equipment into it. The left electromagnet array includes sub-electromagnets numbered 6 to 10 in the electromagnet (16); The right electromagnet array includes sub-electromagnets numbered 1 to 5 in the electromagnet (16); In step S7, a multi-working condition recognition algorithm is implanted in the control module (30) of the monitoring mechanism (3), which distinguishes between static slow inclination and dynamic sudden inclination scenes by analyzing the inclination angle change rate and the inclination direction continuity; at the same time, a theoretical magnetic force-actual inclination angle change calibration model is established to compare the electromagnet set magnetic force with the inclination angle correction effect feedback by the gyroscope (306) in real time, and dynamically compensate the error.

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