Intelligent stepping self-moving and automatic net-laying temporary support system and method

Abstract

An intelligent stepping self-moving and automatic net-laying temporary support system and a method. The system comprises: a rolling top-bracing device (1) comprising a front moving support mechanism (36), a rear moving support mechanism (37), and transverse telescopic driving hydraulic cylinders (20). The front moving support mechanism comprises a front support frame (11), front rolling top-bracing mechanisms (22), front frame support legs (5), and a front adaptive support adjustment unit; the rear moving support mechanism comprises a rear support frame (12) and rear rolling top-bracing mechanisms (31); the rear support frame comprises rear frame longitudinal beams (10), a rear frame front cross beam (8), a rear frame rear cross beam (14), rear frame support legs (9), and a rear adaptive support adjustment unit; an auxiliary net rolling mechanism (2) is connected between front ends of the two front rolling top-bracing mechanisms; and the net rolling mechanism is connected between upper ends of the pair of front frame support legs on the front side. The method comprises: initial data acquisition and environment analysis; positioning and preliminary support of the rolling top-bracing device; preparation for grid net laying; and coordinated operation of intelligent net laying and stepping support. Synchronous operation of temporary support and net laying can be achieved, significantly improving the operation efficiency.

Description

A smart, self-propelled, and automatically laid temporary support system and method Technical Field

[0001] This invention belongs to the field of intelligent equipment technology, specifically relating to an intelligent stepping self-moving, automatic netting temporary support system and method. Background Technology

[0002] Currently, temporary support equipment mainly includes airborne temporary support devices, shield self-moving temporary support devices, and stepping self-moving temporary support devices: (1) Airborne temporary support devices need to be installed on the tunneling machine for operation. First, it will increase the height of the tunneling equipment and affect the operator's line of sight, thus limiting the applicable range of the tunneling machine. Second, high-frequency vibrations will be generated when the tunneling machine cuts the rock wall, and the vibration will be transmitted to the roof, which will easily damage the roof. Furthermore, this device can only support the local roof area near the location of the tunneling machine and cannot form temporary support for the entire open roof area. Moreover, when anchor mesh support is carried out, the workers are still working under the open roof, which poses a great safety hazard. (2) Shield self-moving temporary support devices consist of several rows of shield devices. They move forward on the transport track by shield transport vehicles and provide temporary support by supporting the bottom. Although this device avoids the periodic load on the roof, it has too many action links and a very complex structure. In addition, the support structure of the legs may not achieve the expected function due to unevenness of the bottom plate. (3) The stepping self-moving temporary support device is driven by a hydraulic system to achieve stepping self-moving temporary support. Early stepping self-moving equipment had many defects. First, during the stepping movement, the device would repeatedly add and unload the roof, which could easily lead to roof damage. Second, deviation often occurred during the stepping movement, requiring a large amount of manual adjustment. Furthermore, current stepping self-moving temporary support devices have complex mechanisms, are bulky, prone to failure, occupy a large space, and cause significant interference. Additionally, the movement is difficult due to the unevenness of the roadway floor.

[0003] Field applications show that the stepping self-moving support is the most promising temporary support method. Through continuous improvement of the early stepping self-moving support, the current stepping self-moving support has gradually matured. However, it has some shortcomings: First, it has poor adaptability to the support conditions of undulating roof, and the temporary support effect is not ideal; second, it cannot be effectively combined with the netting operation, making the temporary support and netting operation relatively independent, which reduces the operation efficiency. Summary of the Invention

[0004] To address the problems existing in the prior art, this invention provides an intelligent stepping self-moving, automatic mesh-laying temporary support system and method. This system boasts a high degree of intelligence and ideal support effect, effectively adapting to undulating roof conditions. Furthermore, it effectively combines temporary support operations with mesh-laying operations, enabling simultaneous operation and significantly improving work efficiency. The method is simple to implement, provides ideal support, has a high safety factor, flexibly adapts to complex geological conditions, and effectively ensures roadway stability, providing reliable protection for coal mine production operations.

[0005] To achieve the above objectives, the present invention provides an intelligent stepping self-moving and automatic mesh laying temporary support system, including a rolling support device, an auxiliary mesh rolling mechanism, a mesh rolling mechanism, a grid mesh, and a main control unit;

[0006] The rolling support device includes a front moving support mechanism, a rear moving support mechanism, and a lateral telescopic drive hydraulic cylinder;

[0007] The front moving support mechanism includes a front support frame, a front rolling support mechanism, front frame support legs, and a front adaptive support adjustment unit; the front support frame includes a front frame front crossbeam, a front frame rear crossbeam, and a front frame longitudinal beam; the front frame front crossbeam and the front frame rear crossbeam are arranged side by side; the front frame front crossbeam has two corresponding front mounting grooves at its upper parts at both ends along its length, and a front camera, a front lidar sensor, and a front temperature, humidity, and gas concentration sensor group are mounted on its front end face; the upper part of the front frame rear crossbeam has two rear mounting grooves corresponding to the two front mounting grooves. Three front guide grooves are provided in the central and end areas between the two rear mounting grooves; two front frame longitudinal beams are arranged side by side, with their front ends fixedly installed in the two front mounting grooves on the front crossbeam of the front frame, and their rear ends fixedly installed in the two rear mounting grooves on the rear crossbeam of the front frame; two guide grooves are provided on the upper part of the two front frame longitudinal beams on their adjacent sides; the number of the front rolling support mechanisms is four, and they are evenly installed on the upper end of the front support frame in the left-right direction; the front rolling support mechanism includes a support base plate, auxiliary support legs, and support units; the support... The base plate extends horizontally along the front-to-back direction. The auxiliary support leg is a telescopic hydraulic cylinder with its cylinder barrel located at the top. The upper end of the auxiliary support leg is rotatably connected to the lower center of the base plate via an electric hinge. Multiple support units are sequentially and fixedly connected adjacent to each other on the upper surface of the base plate along its length. Each support unit consists of three support bodies sequentially adjacent to each other along the left-to-right direction. Each support body includes a support cylinder, a roller support, a roller, and a pressure sensor. The base of the support cylinder is vertically and fixedly mounted on the base plate, and the lower end of the roller support is fixedly connected to... At the piston rod end of the supporting cylinder, the roller is rotatably mounted on the upper end of the roller support via its central pivot. The pressure sensor is installed between the lower end of the roller support and the piston rod end of the supporting cylinder to collect the pressure signal borne by the roller support. The front frame support leg is a telescopic hydraulic cylinder with its cylinder barrel located at the top. Two pairs of front frame support legs are distributed at intervals, with the front pair of front frame support legs fixedly mounted on the left and right ends of the lower end face of the front crossbeam of the front frame, and the rear pair of front frame support legs fixedly mounted on the left and right ends of the lower end face of the rear crossbeam of the front frame.

[0008] The front adaptive support adjustment unit includes four front support adjustment components, which are respectively mounted on the four front support legs. Each front support adjustment component includes a front support displacement sensor, a front support pressure sensor, a front electrically swivel support, a front tilt angle sensor, an electromagnetic reversing valve, a transmission module, and a microprocessor. The front support displacement sensor is connected to the piston rod of the front support leg to collect the extension and retraction displacement signal of the front support leg. The front support pressure sensor is connected to the rodless cavity of the front support leg to collect the pressure signal within the rodless cavity. The front electrically swivel support includes a rotatable support foot and a front support foot drive motor. A rotatable support foot is hinged to the end of the piston rod of the front support leg. The front support foot drive motor is installed on one side of the piston rod end of the front support leg, and its output shaft is connected to the rotation shaft of the rotatable support foot to drive the rotatable support foot to rotate relative to the front support leg. The tilt angle sensor is installed on the rotatable support foot to collect the tilt angle signal of the rotatable support foot. The oil inlet of the electromagnetic reversing valve is connected to a high-pressure oil source, and its working oil port is connected to the front support leg. The microprocessor is connected to the front support displacement sensor, the front support pressure sensor, the tilt angle sensor, the front support foot drive motor, the electromagnetic reversing valve, and the transmission module.

[0009] The rear moving support mechanism includes a rear support frame and a rear rolling support mechanism; the rear frame longitudinal beam and the rear support frame include a rear frame front crossbeam, a rear frame rear crossbeam, rear frame support legs, and a rear adaptive support adjustment unit; the two rear frame longitudinal beams are slidably fitted into two guide grooves in the two front frame longitudinal beams; the rear frame front crossbeam and the rear frame rear crossbeam are distributed side by side on the front and rear sides of the front frame rear crossbeam; the upper part of the rear frame front crossbeam has two rear guide grooves corresponding to the positions of the two front rolling support mechanisms near the center area, and its two ends in the length direction are fixedly connected to the front ends of the two front frame longitudinal beams; a rear camera and a rear laser are installed on the rear end face of the rear frame rear crossbeam. The sensor array, including the temperature, humidity, and gas concentration sensor group, has its two ends along its length fixedly connected to the rear ends of the two front longitudinal beams. The structure of the rear rolling support mechanism is the same as that of the front rolling support mechanism. There are three rear rolling support mechanisms, each corresponding to one of the three front guide grooves, and they are fixedly installed side by side on the upper end of the rear support frame. The rear support legs are telescopic hydraulic cylinders with their cylinders located at the top. Two pairs of rear support legs are distributed at intervals, with the front pair of rear support legs fixedly installed on the left and right ends of the lower end face of the front crossbeam of the rear frame, and the rear pair of rear support legs fixedly installed on the left and right ends of the lower end face of the rear crossbeam of the rear frame.

[0010] The rear adaptive support adjustment unit includes four rear support adjustment components, which are respectively installed on the four rear support legs. Each rear support adjustment component includes a rear support displacement sensor, a rear support pressure sensor, a rear electric swivel support, a rear tilt angle sensor, a second electromagnetic reversing valve, a second transmission module, and a second microprocessor. The rear support displacement sensor is connected to the piston rod of the rear support leg to collect the extension and retraction displacement signal of the rear support leg. The rear support pressure sensor is connected to the rodless cavity of the rear support leg to collect the pressure signal within the rodless cavity. The rear electric swivel support includes a second rotatable support foot and a rear support foot drive motor. The second rotating support leg is hinged to the end of the piston rod of the rear support leg. The rear support leg drive motor is installed on one side of the piston rod end of the rear support leg, and its output shaft is connected to the rotation shaft of the second rotating support leg to drive the second rotating support leg to rotate relative to the rear support leg. The tilt angle sensor is installed on the second rotating support leg to collect the tilt angle signal of the second rotating support leg. The oil inlet of the second electromagnetic reversing valve is connected to a high-pressure oil source, and its working oil port is connected to the rear support leg. The second microprocessor is connected to the rear support displacement sensor, the rear support pressure sensor, the tilt angle sensor, the rear support leg drive motor, the second electromagnetic reversing valve, and the second transmission module.

[0011] Two lateral telescopic drive hydraulic cylinders are distributed opposite to each other on the outer side of the two rear frame longitudinal beams, and their bases are connected to the rear end faces of the two front frame longitudinal beams through two front connecting seats, and their piston rod ends are connected to the outer side of the rear section of the two rear frame longitudinal beams through the rear connecting seats.

[0012] The auxiliary winding mechanism is fixedly connected between the front ends of the two front rolling support mechanisms located in the middle, and the front end face of the auxiliary winding mechanism is an arc-shaped structure. At the same time, the auxiliary winding mechanism is equipped with an adjustment device that can move along its length.

[0013] The winding mechanism includes a winding roller and a winding drive motor. The winding roller is rotatably connected between the upper ends of a pair of front frame support legs on the front side via two short shafts at its two ends. The winding drive motor is mounted on one of the front frame support legs on the front side, and its output shaft is connected to one of the short shafts of the winding roller.

[0014] The main body of the grid mesh is wound around the winding drum of the winding mechanism, and its free end is wound through the auxiliary winding mechanism and reaches the upper end face of the rolling support device.

[0015] The main control unit includes a first electromagnetic directional valve group, a second electromagnetic directional valve group, a third electromagnetic directional valve group, a fourth electromagnetic directional valve group, a display screen, a wireless communication module, and a controller. The oil inlet of the first electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to multiple support cylinders via high-pressure pipelines. The oil inlet of the second electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to two lateral telescopic drive hydraulic cylinders via high-pressure pipelines. The oil inlet of the third electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to the front rolling support top. The auxiliary support legs in the mechanism are connected; the oil inlet of the fourth electromagnetic reversing valve group is connected to the high-pressure oil source, and its working oil port is connected to the auxiliary support legs in the rear rolling support mechanism; the display screen is installed on the rear frame longitudinal beam on one side; the wireless communication module one is connected to the transmission module one and the transmission module two respectively; the controller is connected to the pressure sensor, the front camera, the front lidar sensor, the front temperature, humidity and gas concentration sensor group, the rear camera, the rear lidar sensor, the rear temperature, humidity and gas concentration sensor group, the winding drive motor, the deviation adjustment device and the electric hinge respectively.

[0016] Furthermore, in order to enable the rollers to have good recovery ability and support performance, the rollers are made of NBR nitrile rubber; in order to obtain good tensile and compressive strength to ensure long-term support in harsh environments, the grid is made of high-strength polymer material.

[0017] Furthermore, to facilitate installation and disassembly, the lower end of the roller support is provided with an installation hole with an internal thread structure; the piston rod end of the support cylinder is provided with an external thread structure and is fixedly inserted into the installation hole through thread engagement.

[0018] Furthermore, in order to obtain comprehensive image data of the working environment, both the front camera and the rear camera are panoramic cameras.

[0019] Furthermore, in order to monitor the support progress and roadway pressure distribution in real time on the ground, a ground monitoring center is also included. The ground monitoring center includes a data processor, a second wireless communication module, and a display. The second wireless communication module is connected to the first wireless communication module. The data processor is connected to both the second wireless communication module and the display.

[0020] Furthermore, in order to intuitively and effectively alert relevant personnel through an alarm when an anomaly occurs, the main control unit also includes an alarm module, which is installed on the rear longitudinal beam on one side and connected to the controller.

[0021] In this invention, by installing a front camera, a front lidar sensor, and a front temperature, humidity, and gas concentration sensor group on the front end face of the front crossbeam of the front frame, real-time acquisition of environmental image data in front is facilitated. This allows for the detection of obstacles, temperature, humidity, and gas concentration in front. Consequently, not only can the deformation of the surrounding rock be analyzed based on the environmental image data, but also the presence of abnormalities can be determined, effectively ensuring the safety of electromechanical equipment and personnel. Similarly, by installing a rear camera, a rear lidar sensor, and a rear temperature, humidity, and gas concentration sensor group on the rear end face of the rear crossbeam of the rear frame, real-time acquisition of environmental image data in the rear is facilitated. This allows for the detection of obstacles, temperature, humidity, and gas concentration in rear. Similarly, this allows for the analysis of surrounding rock deformation based on the environmental image data in rear, and the determination of abnormalities can be determined, effectively ensuring the safety of electromechanical equipment and personnel. Two front mounting grooves are provided on the front crossbeam of the front frame, and two rear mounting grooves are provided on the rear crossbeam of the front frame. This facilitates the fixed assembly of two front frame longitudinal beams within these grooves. Simultaneously, a pair of guide grooves are provided on opposite sides of the two front frame longitudinal beams, allowing the two rear frame longitudinal beams to slide within them. Furthermore, the front and rear crossbeams of the rear frame are fixedly connected between the front and rear ends of the two rear frame longitudinal beams, respectively. This allows the rear support frame to have sliding space relative to the front support frame in the front-rear direction, while ensuring that the two frames do not completely detach. Three front guide grooves are provided in the middle section of the rear crossbeam of the front frame, ensuring the smooth passage of the auxiliary support legs connected to the three rear rolling support mechanisms during sliding. Two rear guide grooves are provided in the middle section of the front crossbeam of the rear frame, ensuring the smooth passage of the auxiliary support legs connected to the two central front rolling support mechanisms during sliding. Four front rolling support mechanisms are fixed to the top of the front support frame, and three rolling support mechanisms are fixed to the top of the rear support frame. These staggered front and three rolling support mechanisms provide reliable support for the roof. Multiple support units are installed at the top of both the front and rear rolling support mechanisms along their length. Each support unit consists of three side-by-side support bodies. Each support body comprises a support cylinder, a roller support fixed to the piston rod end of the support cylinder, and a roller rotatably mounted on the roller support. This allows the three support bodies in the width direction and the multiple support bodies in the length direction of each front and rear rolling support mechanism to have the same or different heights, thus flexibly adapting to changes in roof undulations. The upper end of the support body is a roller, which fully utilizes the rotational characteristics of the roller to flexibly adapt to changes in roof undulations, further increasing adaptability.Two pairs of front and rear support legs are connected to the lower part of the front and rear support frames, respectively. Both front and rear support legs are telescopic hydraulic cylinders, ensuring reliable self-support for both the front and rear support frames. Simultaneously, they allow for convenient sliding between the two support frames when one is supported and the other is unsupported. An auxiliary support leg is connected to the lower part of each rolling support mechanism via an electric hinge. This auxiliary support leg is also a telescopic hydraulic cylinder, allowing for selective folding and supporting states depending on the situation. In the folded state, the sliding process of the front and rear moving support mechanisms does not interfere with each other. In the supported state, it effectively increases the stability of the front and rear moving support mechanisms. Two lateral telescopic drive hydraulic cylinders are connected to the two front and rear longitudinal beams, respectively, facilitating rapid and efficient sliding between the front and rear support frames, thereby achieving self-moving stepping motion. Each support leg is equipped with a support adjustment component, facilitating real-time sensing of displacement, pressure, and tilt data. This allows for control of the support leg's extension and retraction based on displacement and pressure data to adapt to current support conditions. Simultaneously, tilt data can be used to feed back and control the outrigger drive motor, automatically adjusting the rotatable support foot to the appropriate support angle, thus giving each support leg adaptive support adjustment capabilities. An auxiliary mesh winding mechanism is fixedly connected between the front ends of the two front rolling support mechanisms, with its front end face having an arc shape to guide the grid mesh. Simultaneously, an adjustment device is installed on the auxiliary mesh winding mechanism to promptly adjust for any deviation in the grid mesh, ensuring efficient and accurate grid mesh laying. A mesh winding mechanism is installed between the upper parts of the pair of front frame support legs on the front side, facilitating automated grid mesh release. This, combined with the stepping self-movement of the front and rear moving support mechanisms, enables automated grid mesh laying. By installing pressure sensors in each support structure, it is possible to obtain pressure data at each support point, which in turn facilitates real-time perception of the pressure distribution on the roadway roof.

[0022] The system is highly intelligent and provides ideal support. It effectively adapts to the undulating conditions of the roof and can effectively combine temporary support operations with netting operations, enabling simultaneous operation of temporary support and netting, which significantly improves work efficiency.

[0023] This invention also provides a control method for an intelligent stepping self-moving, automatic netting temporary support system, which includes the following steps:

[0024] Step 1: Initial Data Acquisition and Environmental Analysis;

[0025] S11: Real-time acquisition of front environmental image data using the front camera and transmission to the controller; real-time acquisition of front obstacle signals using the front lidar sensor and transmission to the controller; real-time acquisition of front temperature and humidity signals and front gas concentration signals using the front temperature and humidity and gas concentration sensor group and transmission to the controller; real-time acquisition of rear environmental image data using the rear camera and transmission to the controller; real-time acquisition of rear obstacle signals using the rear lidar sensor and transmission to the controller; real-time acquisition of rear temperature and humidity signals and rear gas concentration signals using the rear temperature and humidity and gas concentration sensor group and transmission to the controller.

[0026] S12: The controller processes the front and rear environmental image data based on machine learning optimization algorithms, analyzes the stability of the tunnel roof and surrounding rock based on the processing results, and generates initial support parameters; the controller obtains front temperature and humidity data and front gas concentration data based on the real-time received front temperature and humidity signals and front gas concentration signals, and controls the alarm module to perform an alarm action when any data exceeds the corresponding set threshold, while simultaneously sending an alarm reminder message to the display screen; at the same time, the controller obtains rear temperature and humidity data and rear gas concentration data based on the real-time received rear temperature and humidity signals and rear gas concentration signals, and controls the alarm module to perform an alarm action when any data exceeds the corresponding set threshold, while simultaneously sending an alarm reminder message to the display screen;

[0027] Step 2: Positioning and initial support of the rolling support device;

[0028] S21: Control the first electromagnetic reversing valve group to operate according to the initial support parameters, and adjust the extension and retraction amplitude of the corresponding multiple support cylinders so that the support height of the corresponding multiple support bodies on the front rolling support mechanism and the corresponding multiple support bodies on the rear rolling support mechanism adapts to the undulation of the roof plate, and initially establishes temporary support.

[0029] S22: The pressure sensor on the support body collects the pressure signal in real time and sends it to the controller. The controller obtains the pressure data of multiple supports based on the received pressure signals, and obtains the force distribution of multiple support points based on the pressure data of multiple supports. Then, the controller adjusts the extension and retraction amplitude of multiple support cylinders in a closed loop based on the force distribution of multiple support points to make the force of multiple support points uniform.

[0030] Simultaneously, the front support adjustment component monitors the corresponding front support leg and sends the collected front support displacement signal, front support pressure signal, and tilt angle signal to microprocessor one. Microprocessor one obtains front support displacement data, front support pressure data, and tilt angle data based on the front support displacement signal, front support pressure signal, and tilt angle signal. Based on the front support displacement data and front support pressure data, it controls the electromagnetic reversing valve one to adjust the extension and retraction range of the corresponding front support leg to adapt to the current support condition. Based on the tilt angle data, it controls the front outrigger drive motor to rotate by a set angle to drive the rotatable support leg one to achieve a support state that is in contact with the ground. At the same time, microprocessor one transmits the tilt angle data to the controller through the wireless communication link between transmission module one and wireless communication module one. The controller controls the electric hinge in the front rolling support mechanism to rotate by a set angle based on the tilt angle data, so that the auxiliary support leg in the front rolling support mechanism rotates by a set angle to achieve an auxiliary support state.

[0031] Simultaneously, the rear support adjustment component monitors the corresponding rear support leg and sends the collected rear support displacement signal, rear support pressure signal, and rear tilt angle signal to microprocessor two. Microprocessor two obtains rear support displacement data, rear support pressure data, and rear tilt angle data based on the rear support displacement signal, rear support pressure signal, and rear tilt angle signal. Based on the rear support displacement data and rear support pressure data, it controls the electromagnetic reversing valve two to adjust the extension and retraction range of the corresponding rear support leg to adapt to the current support condition. Based on the rear tilt angle data, it controls the rear support foot drive motor to rotate by a set angle to drive the rotatable support foot two to achieve a support state that is in contact with the ground. At the same time, microprocessor two transmits the rear tilt angle data to the controller through the wireless communication link between transmission module two and wireless communication module one. The controller controls the electric hinge in the rear rolling support mechanism to rotate by a set angle based on the rear tilt angle data, so that the auxiliary support leg in the rear rolling support mechanism rotates by a set angle and achieves an auxiliary support state.

[0032] Step 3: Preparation for laying the geogrid;

[0033] After the free end of the grid mesh is wound around the auxiliary winding mechanism, it reaches the upper surface of the rolling support device and is fixed. The release speed of the grid mesh is adjusted according to the cross-sectional size of the roadway and the condition of the roof to ensure that the grid mesh is evenly unfolded.

[0034] Step 4: Intelligent netting installation and step-by-step support work in tandem;

[0035] S41: To keep the rear moving support mechanism in a supported state, the controller sends a movement signal to the forward adaptive support adjustment unit. After receiving the movement signal, the microprocessor 1 in each of the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to retract the corresponding front frame support leg by a set distance to reach the unsupported state. At the same time, the controller controls the electric hinge in the front rolling support mechanism to rotate by a set angle so that the auxiliary support leg in the front rolling support mechanism rotates by a set angle and reaches the fully folded state. The controller controls the electromagnetic reversing valve group 2 to operate, synchronously controlling the two lateral telescopic drive hydraulic cylinders to extend by a set length, so that the front moving support mechanism moves forward a certain distance relative to the rear moving support mechanism. After reaching the set position, the microprocessor 1 in each of the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to operate, so that the four front frame support legs return to the supported state.

[0036] S42: To keep the front moving support mechanism in a supported state, the controller sends a movement signal to the rear adaptive support adjustment unit. After receiving the movement signal, the microprocessor 2 in each of the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to retract the corresponding rear frame support leg by a set distance to reach the unsupported state. At the same time, the controller controls the electric hinge in the rear rolling support mechanism to rotate by a set angle so that the auxiliary support leg in the rear rolling support mechanism can rotate by a set angle and reach the fully folded state. The controller controls the electromagnetic reversing valve group 2 to operate, synchronously controlling the two lateral telescopic drive hydraulic cylinders to retract by a set length, so that the rear moving support mechanism moves forward a certain distance relative to the front moving support mechanism. After reaching the set position, the microprocessor 2 in each of the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to operate, so that the four rear frame support legs return to the supported state.

[0037] S43: Repeatedly execute S41 and S42 to realize the alternating stepping movement of the front moving support mechanism and the rear moving support mechanism. At the same time, synchronously control the operation of the mesh winding drive motor so that the mesh winding mechanism releases the mesh at a uniform speed according to the stepping movement speed. The four front rolling support mechanisms and three rear rolling support mechanisms arranged in a staggered manner support the mesh tightly against the top plate surface, so as to realize the automatic follow-up laying operation of the mesh segment by segment during the stepping support process of the support.

[0038] Simultaneously, the controller determines whether pedestrians or other equipment are passing ahead based on real-time received frontal environmental image data and frontal obstacle signals. When pedestrians or other equipment are passing ahead, it controls the first electromagnetic reversing valve group to operate in the neutral position, stopping the forward-stepping self-moving operation. Simultaneously, it determines whether pedestrians or other equipment are passing behind based on real-time received rearal environmental image data and rearal obstacle signals. When pedestrians or other equipment are passing behind, it controls the second electromagnetic reversing valve group to operate in the neutral position, stopping the forward-stepping self-moving operation. The controller obtains frontal temperature and humidity data and frontal gas concentration data based on real-time received frontal temperature and humidity signals and frontal gas concentration signals. When any data exceeds the corresponding set threshold, it controls the alarm module to activate an alarm action and simultaneously sends an alarm reminder message to the display screen. Similarly, it obtains rearal temperature and humidity data and rearal gas concentration data based on real-time received rearal temperature and humidity signals and rearal gas concentration signals. When any data exceeds the corresponding set threshold, it controls the alarm module to activate an alarm action and simultaneously sends an alarm reminder message to the display screen.

[0039] Simultaneously, the controller obtains the pressure data of multiple supports based on the real-time received pressure signals, and then obtains the force distribution of multiple support points based on the pressure data of multiple supports. Based on the force distribution of multiple support points, the controller adjusts the extension and retraction amplitude of multiple support cylinders in a closed loop to ensure that the support height of the corresponding supports on the front rolling support mechanism and the corresponding supports on the rear rolling support mechanism adapts to the undulations of the roof plate, and to ensure uniform force distribution at multiple support points. When the pressure data of one or more support points becomes abnormal, the control alarm module activates an alarm action and simultaneously sends an alarm reminder message to the display screen.

[0040] Step 5: System reset;

[0041] After completing the support task, the intelligent stepping and automatic mesh laying temporary support system is restored to its initial state, and the data from this operation is recorded.

[0042] Furthermore, to prevent the grid mesh from deviating from the predetermined trajectory and to ensure laying quality, in step four, S43, when the grid mesh deviates, the adjustment device is used to adjust the grid mesh to prevent it from deviating. At the same time, the grid mesh surface is ensured to be taut to the set tension state. Meanwhile, the controller obtains the laying length data of the grid mesh based on the rotation speed and working time of the winding drive motor, and obtains the remaining material data of the grid mesh. When the remaining material data is less than the set remaining threshold, the alarm device is controlled to perform an alarm action and send a reminder message of insufficient remaining material to the display screen.

[0043] Furthermore, to ensure stability during the self-moving process, in step four, S41, the front support adjustment component monitors the corresponding front support leg and sends the collected front support displacement signal, front support pressure signal, and forward tilt angle signal to microprocessor one. Microprocessor one obtains front support displacement data, front support pressure data, and forward tilt angle data based on the front support displacement signal, front support pressure signal, and forward tilt angle signal. Based on the front support displacement data and front support pressure data, it controls the electromagnetic reversing valve one to adjust the extension and retraction range of the corresponding front support leg to adapt to the current support condition. Based on the forward tilt angle data, it controls the front support foot drive motor to rotate by a set angle to drive the rotatable support foot one to achieve a support state that is in contact with the ground.

[0044] In step S42 of step four, the corresponding rear support leg is monitored using the rear support adjustment component, and the collected rear support displacement signal, rear support pressure signal, and rear tilt angle signal are sent to microprocessor two. Microprocessor two obtains rear support displacement data, rear support pressure data, and rear tilt angle data based on the rear support displacement signal, rear support pressure signal, and rear tilt angle signal, and controls the electromagnetic reversing valve two to adjust the extension and retraction range of the corresponding rear support leg to adapt to the current support condition based on the rear tilt angle data. It also controls the rear support foot drive motor to rotate by a set angle based on the rear tilt angle data to drive the rotatable support foot two to achieve a support state that is in contact with the ground.

[0045] Furthermore, to facilitate intuitive observation of the support operation, roadway pressure distribution, and grid mesh laying progress through 3D visualization, in step S43 of step four, the controller transmits the real-time received front environmental image data, front obstacle signal, rear environmental image data, rear obstacle signal, grid mesh laying length data, and force distribution of multiple support points to the data processor via the wireless communication link between wireless communication module one and wireless communication module two. The data processor performs 3D modeling of the working environment based on the environmental image data and obstacle signal, and displays it intuitively in real time on the display. The data processor obtains roadway pressure distribution data based on the force distribution of multiple support points, and displays the grid mesh laying length data and roadway pressure distribution data intuitively in real time on the display.

[0046] Compared with the prior art, the present invention has the following beneficial effects:

[0047] 1) No need for repeated support, which can effectively reduce damage to the roof;

[0048] The sliding between the front and rear moving support mechanisms is achieved by using a lateral telescopic hydraulic cylinder. At the same time, four front and rear support legs are installed under the front and rear moving support mechanisms respectively, which can achieve continuous and stable support for the roof. This avoids the repeated loading and unloading of the roof during the traditional stepping support process, significantly reduces the risk of roof damage, and improves the stability of the roadway.

[0049] 2) Intelligent mesh laying, efficient and safe;

[0050] This invention integrates an auxiliary mesh rolling mechanism, an adjustment device, and a mesh rolling mechanism, enabling automated mesh laying operations without the need for manual connection of the steel mesh, reducing safety hazards for personnel working under open ceilings, and significantly improving the accuracy and efficiency of mesh laying.

[0051] 3) Flexible adaptation to complex geological conditions;

[0052] Each support leg is equipped with a support adjustment component, which uses tilt sensors, support pressure sensors and high-strength roller structure to sense the tilt and unevenness of the rotatable support foot in real time, and can intelligently adjust the support force and height to ensure that the support system can operate smoothly under various complex geological conditions.

[0053] 4) Modular design, simple and reliable structure;

[0054] Compared to traditional stepping systems, the support structure is simpler, smaller in size, occupies less space, and is easier to operate and maintain. Furthermore, the system employs a modular integration approach, reducing equipment failure rates and improving reliability.

[0055] 5) Intelligent monitoring and early warning ensure operational safety;

[0056] This invention incorporates multiple sensors and processors, enabling real-time monitoring of the support's operating status and tunnel environmental parameters. It also provides multi-level early warning mechanisms to alert to anomalies, further enhancing the safety of the support's operation.

[0057] 6) Efficient data visualization and remote monitoring;

[0058] Information such as the operating status of the support structure and the pressure distribution in the tunnel is presented in real time through three-dimensional visualization and can be uploaded to the ground monitoring center via wireless communication module, which facilitates remote decision-making and real-time monitoring by management personnel.

[0059] In summary, the present invention has a simple implementation process, ideal support effect, high operational safety factor, can flexibly adapt to complex geological conditions, and can effectively ensure the stability of roadways, thus providing a reliable guarantee for coal mine production operations. Attached Figure Description

[0060] Figure 1 is a schematic diagram of the overall structure of the support system in this invention;

[0061] Figure 2 is a left view of Figure 1;

[0062] Figure 3 is a top view of the front moving support mechanism and the rear moving support mechanism after assembly in this invention.

[0063] Figure 4 is a top view of the forward moving support mechanism in this invention;

[0064] Figure 5 is a top view of the rear moving support mechanism in this invention;

[0065] Figure 6 is a left view of the forward moving support mechanism in this invention;

[0066] Figure 7 is a left view of the rear moving support mechanism in this invention;

[0067] Figure 8 is a structural schematic diagram of the front rolling support mechanism or the rear rolling support mechanism in this invention;

[0068] Figure 9 is a schematic diagram of the front rolling support mechanism or the rear rolling support mechanism in this invention.

[0069] Figure 10 is a schematic diagram of the front crossbeam of the front frame in this invention;

[0070] Figure 11 is a schematic diagram of the front frame and rear crossbeam in this invention;

[0071] Figure 12 is a schematic diagram of the structure of the front crossbeam of the rear frame in this invention;

[0072] Figure 13 is a schematic diagram of the rear crossbeam of the rear frame in this invention;

[0073] Figure 14 is a schematic diagram of the cross-sectional structure of the front frame longitudinal beam in this invention;

[0074] Figure 15 is a schematic diagram of the supporting unit in this invention;

[0075] Figure 16 is a schematic diagram of the support structure in this invention;

[0076] Figure 17 is a schematic diagram of the assembly of the front support leg and the front support adjustment assembly in this invention;

[0077] Figure 18 is an assembly diagram of the rear support leg and the rear support adjustment assembly in this invention;

[0078] Figure 19 is a schematic diagram of the state of the stepping self-movement operation process of the support system in this invention;

[0079] Figure 20 is a circuit block diagram of the front support adjustment component in this invention;

[0080] Figure 21 is a circuit block diagram of the rear support adjustment component in this invention;

[0081] Figure 22 is a circuit block diagram of the main control unit and the ground monitoring center in this invention.

[0082] In the diagram: 1. Rolling support device; 2. Auxiliary mesh winding mechanism; 3. Grille; 4. Mesh winding mechanism; 5. Front frame rear crossbeam; 6. Front frame support leg; 7. Front frame longitudinal beam; 8. Rear frame front crossbeam; 9. Rear frame support leg; 10. Rear frame longitudinal beam; 11. Front support frame; 12. Rear support frame; 13. Front frame front crossbeam; 14. Rear frame rear crossbeam; 15. Rear mounting groove; 16. Front guide groove; 17. Front camera; 18. Front lidar sensor; 19. Front temperature, humidity, and gas concentration sensor group; 20. Lateral telescopic drive hydraulic cylinder; 21. Guide chute; 2 2. Front rolling support mechanism; 23. Support base plate; 24. Support unit; 25. Auxiliary support leg; 26. Support cylinder; 27. Roller support; 28. Roller; 29. ​​Rotary shaft; 30. Support body; 31. Rear rolling support mechanism; 32. Rear guide groove; 33. Rear camera; 34. Rear lidar sensor; 35. Rear temperature, humidity and gas concentration sensor group; 36. Front moving support mechanism; 37. Rear moving support mechanism; 38. Front mounting groove; 39. Microprocessor one; 40. Rotatable support foot one; 41. Microprocessor two; 42. Electric hinge. Detailed Implementation

[0083] The invention will now be further described with reference to the accompanying drawings.

[0084] As shown in Figures 1 to 22, the present invention provides an intelligent stepping self-moving and automatic netting temporary support system, including a rolling support device 1, an auxiliary netting mechanism 2, a netting mechanism 4, a grid net 3, and a main control unit;

[0085] The rolling support device 1 includes a front moving support mechanism 36, a rear moving support mechanism 37, and a lateral telescopic drive hydraulic cylinder 20.

[0086] The front moving support mechanism 36 includes a front support frame 11, a front rolling support mechanism 22, a front frame support leg 6, and a front adaptive support adjustment unit; the front support frame 11 includes a front frame front crossbeam 13, a front frame rear crossbeam 5, and a front frame longitudinal beam 7; the front frame front crossbeam 13 and the front frame rear crossbeam 5 are arranged side by side; the front frame front crossbeam 13 has two front mounting grooves 38 correspondingly formed on the upper part of both ends in the length direction, and a front camera 17, a front lidar sensor 18, and a front temperature, humidity, and gas concentration sensor group 19 are installed on the front end face; the upper part of the front frame rear crossbeam 5 has two rear mounting grooves corresponding to the two front mounting grooves 38. 15, and three front guide grooves 16 are provided in the central area and both ends of the portion between the two rear mounting grooves 15; two front frame longitudinal beams 7 are distributed side by side, and their front ends are respectively fixedly installed in two front mounting grooves 38 on the front crossbeam 13 of the front frame, and their rear ends are respectively fixedly installed in two rear mounting grooves 15 on the rear crossbeam 5 of the front frame; two guide grooves 21 are provided on the upper part of the two front frame longitudinal beams 7 on the side closest to each other; the number of the front rolling support mechanism 22 is four, and they are evenly installed on the upper end of the front support frame 11 in the left and right direction; the front rolling support mechanism 22 includes a support base plate 23, auxiliary support legs 25 and support unit 24; The supporting base plate 23 extends horizontally along the front-to-back direction; the auxiliary support leg 25 is a telescopic hydraulic cylinder with its cylinder located at the top, and the upper end of the auxiliary support leg 25 is rotatably connected to the lower center of the supporting base plate 23 via an electric hinge 42; multiple sets of support units 24 are sequentially and adjacently fixedly connected to the upper surface of the supporting base plate 23 along the length direction; each support unit 24 consists of three support bodies 30 sequentially adjacent along the left-to-right direction; each support body 30 includes a support cylinder 26, a roller support 27, a roller 28, and a pressure sensor; the base of the support cylinder 26 is vertically fixedly installed on the supporting base plate 23, and the roller support 27... The lower end is fixedly connected to the piston rod end of the support cylinder 26. The roller 28 is rotatably mounted on the upper end of the roller support 27 through the central pivot 29. The pressure sensor is installed between the lower end of the roller support 27 and the piston rod end of the support cylinder 26 to collect the pressure signal borne by the roller support 27. The front frame support leg 6 is a telescopic hydraulic cylinder with its cylinder located at the upper part. Two pairs of front frame support legs 6 are distributed in a staggered manner, and the front pair of front frame support legs 6 are fixedly mounted on the left and right ends of the lower end face of the front crossbeam 13 of the front frame, and the rear pair of front frame support legs 6 are fixedly mounted on the left and right ends of the lower end face of the rear crossbeam 5 of the front frame.

[0087] The front adaptive support adjustment unit includes four front support adjustment components, which are respectively mounted on the four front support legs 6. Each front support adjustment component includes a front support displacement sensor, a front support pressure sensor, a front electric swivel support, a tilt angle sensor, an electromagnetic reversing valve, a transmission module, and a microprocessor 39. The front support displacement sensor is connected to the piston rod of the front support leg 6 to collect the extension and retraction displacement signal of the front support leg 6. The front support pressure sensor is connected to the rodless cavity of the front support leg 6 to collect the pressure signal within the rodless cavity. The front electric swivel support includes a rotatable support foot 40 and a front support foot drive motor. Support leg 40 is hinged to the piston rod end of front support leg 6. The front support leg drive motor is installed on one side of the piston rod end of front support leg 6, and its output shaft is connected to the rotation shaft of rotatable support leg 40 to drive rotatable support leg 40 to rotate relative to front support leg 6. The tilt angle sensor is installed on rotatable support leg 40 to collect the tilt angle signal of rotatable support leg 40. The oil inlet of electromagnetic reversing valve 1 is connected to a high-pressure oil source, and its working oil port is connected to front support leg 6. Microprocessor 39 is connected to front support displacement sensor, front support pressure sensor, tilt angle sensor, front support leg drive motor, electromagnetic reversing valve 1, and transmission module 1 respectively.

[0088] The rear moving support mechanism 37 includes a rear support frame 12 and a rear rolling support mechanism 31; the rear frame longitudinal beam 10 and the rear support frame 12 include a rear frame front crossbeam 8, a rear frame rear crossbeam 14, a rear frame support leg 9, and a rear adaptive support adjustment unit; the two rear frame longitudinal beams 10 are slidably fitted into two guide grooves 21 in the two front frame longitudinal beams 7; the rear frame front crossbeam 8 and the rear frame rear crossbeam 14 are distributed side by side on the front and rear sides of the front frame rear crossbeam 5; the upper part of the rear frame front crossbeam 8 has two rear guide grooves 32 corresponding to the positions of the two front rolling support mechanisms 22 near the center area, and their two ends in the length direction are fixedly connected to the front ends of the two front frame longitudinal beams 7; a rear camera 3 is installed on the rear end face of the rear frame rear crossbeam 14. 3. The rear lidar sensor 34 and the rear temperature, humidity and gas concentration sensor group 35 are fixedly connected at both ends of their length direction to the rear ends of the two front frame longitudinal beams 7 respectively; the structure of the rear rolling support mechanism 31 is the same as that of the front rolling support mechanism 22; there are three rear rolling support mechanisms 31, which are respectively located above the three front guide grooves 16, and are fixedly installed side by side on the upper end of the rear support frame 12; the rear frame support leg 9 is a telescopic hydraulic cylinder, and its cylinder is located at the upper part; two pairs of rear frame support legs 9 are distributed at intervals, and the front pair of rear frame support legs 9 are fixedly installed on the left and right ends of the lower end face of the rear frame front crossbeam 8, and the rear pair of rear frame support legs 9 are fixedly installed on the left and right ends of the lower end face of the rear frame rear crossbeam 14.

[0089] The rear adaptive support adjustment unit includes four rear support adjustment components, which are respectively installed on the four rear support legs 9. Each rear support adjustment component includes a rear support displacement sensor, a rear support pressure sensor, a rear electric swivel support, a rear tilt angle sensor, a second electromagnetic reversing valve, a second transmission module, and a second microprocessor 40. The rear support displacement sensor is connected to the piston rod of the rear support leg 9 to collect the extension and retraction displacement signal of the rear support leg 9. The rear support pressure sensor is connected to the rodless cavity of the rear support leg 9 to collect the pressure signal within the rodless cavity of the rear support leg 9. The rear electric swivel support includes a second rotatable support foot 42 and a rear support foot drive motor. Support leg 2 42 is hinged to the piston rod end of the rear support leg 9. The rear support leg drive motor is installed on one side of the piston rod end of the rear support leg 9, and its output shaft is connected to the rotation shaft of the rotatable support leg 2 42 to drive the rotatable support leg 2 42 to rotate relative to the rear support leg 9. The tilt angle sensor is installed on the rotatable support leg 2 42 to collect the tilt angle signal of the rotatable support leg 2 42. The oil inlet of the electromagnetic reversing valve 2 is connected to the high-pressure oil source, and its working oil port is connected to the rear support leg 9. The microprocessor 2 40 is connected to the rear support displacement sensor, the rear support pressure sensor, the tilt angle sensor, the rear support leg drive motor, the electromagnetic reversing valve 2, and the transmission module 2.

[0090] Two lateral telescopic drive hydraulic cylinders 20 are distributed opposite to each other on the outer side of the two rear frame longitudinal beams 10, and their bases are connected to the rear end faces of the two front frame longitudinal beams 7 through two front connecting seats, and their piston rod ends are connected to the rear outer side of the two rear frame longitudinal beams 10 through the rear connecting seats.

[0091] The auxiliary winding mechanism 2 is fixedly connected between the front ends of the two front rolling support mechanisms located in the middle, and the front end face of the auxiliary winding mechanism 2 has an arc-shaped structure. Simultaneously, the auxiliary winding mechanism 2 is equipped with an adjustment device that can move along its length. Preferably, the auxiliary winding mechanism 2 includes a guide cylinder, a sliding cylinder slidably sleeved on the outer surface of the guide cylinder, and a linear electric push rod motor installed in the guide cylinder. The front side of the guide cylinder has a strip-shaped groove along its length, and the telescopic end of the linear electric push rod motor is slidably inserted into the strip-shaped groove. The rod is connected to the inner wall of the sliding cylinder. The sliding cylinder is moved along the length of the guide cylinder by the extension and retraction of the linear electric push rod motor, thereby realizing the deviation adjustment function. In this way, the deviation adjustment device can be formed by the sliding cylinder, the linear electric push rod motor and the connecting rod. The winding mechanism 4 includes a winding roller and a winding drive motor. The winding roller is rotatably connected between the upper ends of a pair of front frame support legs 6 on the front side through two short shafts at its two ends. The winding drive motor is mounted on one of the front frame support legs 6 on the front side, and its output shaft is connected to one of the short shafts of the winding roller.

[0092] The main body of the grid 3 is wound around the winding drum of the winding mechanism 4, and its free end is wound through the auxiliary winding mechanism 2 and reaches the upper end face of the rolling support device 1.

[0093] The main control unit includes a first electromagnetic directional valve group, a second electromagnetic directional valve group, a third electromagnetic directional valve group, a fourth electromagnetic directional valve group, a display screen, a wireless communication module, and a controller. The oil inlet of the first electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to multiple support cylinders 26 via high-pressure pipelines. The oil inlet of the second electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to two lateral telescopic drive hydraulic cylinders 20 via high-pressure pipelines. The oil inlet of the third electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to the auxiliary support leg in the front rolling support mechanism 22. Connection 23: The oil inlet of the fourth electromagnetic reversing valve group is connected to a high-pressure oil source, and its working oil port is connected to the auxiliary support leg 22 in the rear rolling support mechanism 31; the display screen is mounted on the rear longitudinal beam 10 on one side; the wireless communication module one is connected to the transmission module one and the transmission module two respectively; the controller is connected to the pressure sensor, the front camera 17, the front lidar sensor 18, the front temperature, humidity and gas concentration sensor group 19, the rear camera 33, the rear lidar sensor 34, the rear temperature, humidity and gas concentration sensor group 35, the wire mesh drive motor, the alignment device and the electric hinge 42 respectively. As a preference, the controller is an industrial computer.

[0094] To ensure the rollers have good resilience and support performance, the rollers 28 are made of NBR nitrile rubber; to obtain good tensile and compressive strength and ensure long-term support in harsh environments, the grid mesh 3 is made of high-strength polymer material.

[0095] To facilitate installation and disassembly, the lower end of the roller support 27 is provided with an installation hole with an internal thread structure; the piston rod end of the support cylinder 26 is provided with an external thread structure and is fixedly inserted into the installation hole through thread engagement.

[0096] In order to obtain comprehensive image data of the working environment, both the front camera 27 and the rear camera 27 are 360-degree panoramic cameras.

[0097] To enable real-time observation of support progress and tunnel pressure distribution on the ground, a ground monitoring center is also included. The ground monitoring center includes a data processor, a second wireless communication module, and a display. The second wireless communication module is connected to the first wireless communication module. The data processor is connected to both the second wireless communication module and the display.

[0098] In order to provide a direct and effective alarm to relevant personnel in the event of an anomaly, the main control unit also includes an alarm module, which is installed on the rear longitudinal beam 10 on one side and connected to the controller.

[0099] In this invention, by installing a front camera, a front lidar sensor, and a front temperature, humidity, and gas concentration sensor group on the front end face of the front crossbeam of the front frame, real-time acquisition of environmental image data in front is facilitated. This allows for the detection of obstacles, temperature, humidity, and gas concentration in front. Consequently, not only can the deformation of the surrounding rock be analyzed based on the environmental image data, but also the presence of abnormalities can be determined, effectively ensuring the safety of electromechanical equipment and personnel. Similarly, by installing a rear camera, a rear lidar sensor, and a rear temperature, humidity, and gas concentration sensor group on the rear end face of the rear crossbeam of the rear frame, real-time acquisition of environmental image data in the rear is facilitated. This allows for the detection of obstacles, temperature, humidity, and gas concentration in rear. Similarly, this allows for the analysis of surrounding rock deformation based on the environmental image data in rear, and the determination of abnormalities can be determined, effectively ensuring the safety of electromechanical equipment and personnel. Two front mounting grooves are provided on the front crossbeam of the front frame, and two rear mounting grooves are provided on the rear crossbeam of the front frame. This facilitates the fixed assembly of two front frame longitudinal beams in the two front mounting grooves and two rear mounting grooves. Simultaneously, a pair of guide grooves are provided on opposite sides of the two front frame longitudinal beams, allowing the two rear frame longitudinal beams to slide within these guide grooves. Furthermore, the front and rear crossbeams of the rear frame are fixedly connected between the front and rear ends of the two rear frame longitudinal beams, respectively. This allows the rear support frame to have sliding space relative to the front support frame in the front-rear direction, while ensuring that the two frames do not completely detach. Three front guide grooves are provided in the middle section of the rear crossbeam of the front frame, ensuring the smooth passage of the auxiliary support legs connected to the three rear rolling support mechanisms during sliding. Two rear guide grooves are provided in the middle section of the front crossbeam of the rear frame, ensuring the smooth passage of the auxiliary support legs connected to the two central front rolling support mechanisms during sliding. Four front rolling support mechanisms are fixed to the top of the front support frame, and three rolling support mechanisms are fixed to the top of the rear support frame. These staggered front and three rolling support mechanisms provide reliable support for the roof. Multiple support units are installed at the top of both the front and rear rolling support mechanisms along their length. Each support unit consists of three side-by-side support bodies. Each support body comprises a support cylinder, a roller support fixed to the piston rod end of the support cylinder, and a roller rotatably mounted on the roller support. This allows the heights of the three support bodies in the width direction and the multiple support bodies in the length direction of each front and rear rolling support mechanism to be the same or different, thus flexibly adapting to changes in roof undulations. The upper end of the support body is a roller, which fully utilizes the rotational characteristics of the roller to flexibly adapt to changes in roof undulations, further increasing adaptability.Two pairs of front and rear support legs are connected to the lower part of the front and rear support frames, respectively. Both front and rear support legs are telescopic hydraulic cylinders, ensuring reliable self-support for both the front and rear support frames. Furthermore, they allow for convenient sliding between the two support frames, with one support frame in a supported state and the other unsupported. An auxiliary support leg is connected to the lower part of each rolling support mechanism via an electric hinge. This auxiliary support leg is also a telescopic hydraulic cylinder, allowing for selective folding and supported states depending on the situation. In the folded state, the sliding process of the front and rear moving support mechanisms does not interfere with each other. In the supported state, the stability of the front and rear moving support mechanisms is effectively increased. Two lateral telescopic drive hydraulic cylinders are connected to the two front and rear longitudinal beams, respectively. This allows for rapid and efficient driving of the sliding between the front and rear support frames using these two lateral telescopic drive hydraulic cylinders, thereby enabling self-propelled stepping motion. Each support leg is equipped with a support adjustment component, allowing for real-time sensing of displacement, pressure, and tilt data. This enables control of the support leg's extension and retraction based on displacement and pressure data to adapt to current support conditions. Simultaneously, tilt data allows for feedback control of the outrigger drive motor, automatically adjusting the rotatable support foot to the appropriate support angle, thus giving each support leg adaptive support adjustment capabilities. An auxiliary mesh winding mechanism is fixedly connected between the front ends of the two front rolling support mechanisms, with its front end face being an arc structure to guide the grid mesh. The auxiliary mesh winding mechanism also features an adjustment device to promptly adjust for grid mesh deviation, ensuring efficient and accurate grid mesh laying. A mesh winding mechanism is installed between the upper parts of the pair of front frame support legs on the front side, facilitating automated grid mesh release. This, combined with the stepping self-movement of the front and rear moving support mechanisms, enables automated grid mesh laying. By installing pressure sensors in each support structure, it is possible to obtain pressure data at each support point, which in turn facilitates real-time perception of the pressure distribution on the roadway roof.

[0100] The system is highly intelligent and provides ideal support. It effectively adapts to the undulating conditions of the roof and can effectively combine temporary support operations with netting operations, enabling simultaneous operation of temporary support and netting, which significantly improves work efficiency.

[0101] This invention also provides a control method for an intelligent stepping self-moving, automatic netting temporary support system, which includes the following steps:

[0102] Step 1: Initial Data Acquisition and Environmental Analysis;

[0103] S11: The front camera 17 collects real-time image data of the front environment and sends it to the controller; the front lidar sensor 18 collects real-time obstacle signals and sends them to the controller; the front temperature, humidity and gas concentration sensor group 19 collects real-time front temperature, humidity and gas concentration signals and sends them to the controller; the rear camera 33 collects real-time image data of the rear environment and sends it to the controller; the rear lidar sensor 34 collects real-time obstacle signals and sends them to the controller; the rear temperature, humidity and gas concentration sensor group 35 collects real-time rear temperature, humidity and gas concentration signals and sends them to the controller.

[0104] S12: The controller processes the front and rear environmental image data based on machine learning optimization algorithms, analyzes the stability of the tunnel roof and surrounding rock based on the processing results, and generates initial support parameters; the controller obtains front temperature and humidity data and front gas concentration data based on the real-time received front temperature and humidity signals and front gas concentration signals, and controls the alarm module to perform an alarm action when any data exceeds the corresponding set threshold, while simultaneously sending an alarm reminder message to the display screen; at the same time, the controller obtains rear temperature and humidity data and rear gas concentration data based on the real-time received rear temperature and humidity signals and rear gas concentration signals, and controls the alarm module to perform an alarm action when any data exceeds the corresponding set threshold, while simultaneously sending an alarm reminder message to the display screen;

[0105] Step 2: Positioning and initial support of the rolling support device;

[0106] S21: Control the first electromagnetic reversing valve group to operate according to the initial support parameters, and adjust the extension and retraction amplitude of the corresponding multiple support cylinders 16 so that the support height of the multiple support bodies 30 on the front rolling support mechanism 22 and the multiple support bodies 30 on the rear rolling support mechanism 31 can adapt to the undulation of the roof plate, and initially establish temporary support.

[0107] S22: The pressure sensor on the support body 30 is used to collect the pressure signal in real time and send it to the controller. The controller obtains the pressure data of multiple support bodies 30 based on the received pressure signals, and obtains the force distribution of multiple support points based on the pressure data of multiple support bodies 30. Then, the controller adjusts the extension and retraction amplitude of multiple support cylinders 26 in a closed loop based on the force distribution of multiple support points to make the force of multiple support points uniform.

[0108] Simultaneously, the front support adjustment component monitors the corresponding front support leg 6 and sends the collected front support displacement signal, front support pressure signal, and tilt angle signal to the microprocessor. The microprocessor obtains the front support displacement data, front support pressure data, and tilt angle data based on the front support displacement signal, front support pressure signal, and tilt angle signal. Based on the front support displacement data and front support pressure data, it controls the electromagnetic reversing valve to adjust the extension and retraction range of the corresponding front support leg 6 to adapt to the current support condition. Based on the tilt angle data, it controls the front outrigger drive motor to rotate by a set angle to drive the rotatable support leg 40 to achieve a support state that is in contact with the ground. At the same time, the microprocessor transmits the tilt angle data to the controller through the wireless communication link between the transmission module and the wireless communication module. Based on the tilt angle data, the controller controls the electric hinge 42 in the front rolling support mechanism 22 to rotate by a set angle, so that the auxiliary support leg 25 in the front rolling support mechanism 22 rotates by a set angle and achieves an auxiliary support state.

[0109] Simultaneously, the rear support adjustment component monitors the corresponding rear support leg 9 and sends the collected rear support displacement signal, rear support pressure signal, and rear tilt angle signal to the microprocessor 2. The microprocessor 2 obtains rear support displacement data, rear support pressure data, and rear tilt angle data based on the rear support displacement signal, rear support pressure signal, and rear tilt angle signal. Based on the rear support displacement data and rear support pressure data, it controls the electromagnetic reversing valve 2 to adjust the extension and retraction range of the corresponding rear support leg 9 to adapt to the current support condition. Based on the rear tilt angle data, it controls the rear support foot drive motor to rotate by a set angle to drive the rotatable support foot 2 42 to achieve a support state that is in contact with the ground. At the same time, the microprocessor 2 transmits the rear tilt angle data to the controller through the wireless communication link between the transmission module 2 and the wireless communication module 1. The controller controls the electric hinge 42 in the rear rolling support mechanism 31 to rotate by a set angle based on the rear tilt angle data, so that the auxiliary support leg 25 in the rear rolling support mechanism 31 rotates by a set angle and achieves an auxiliary support state.

[0110] Step 3: Preparation for laying the grid mesh 3;

[0111] After the free end of the grid mesh 3 is wound around the auxiliary winding mechanism 2, it reaches the upper end face of the rolling support device 1 and is fixed. The release speed of the grid mesh 3 is adjusted according to the cross-sectional size of the roadway and the condition of the roof to ensure that the grid mesh 3 is evenly unfolded.

[0112] Step 4: Intelligent netting installation and step-by-step support work in tandem;

[0113] S41: Keep the rear moving support mechanism 37 in the supported state. The controller sends a movement signal to the forward adaptive support adjustment unit. After receiving the movement signal, the microprocessor 1 in the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to act, so that the corresponding front frame support leg 6 retracts a set distance to reach the unsupported state. At the same time, the controller controls the electric hinge 42 in the front rolling support mechanism 22 to rotate a set angle, so that the auxiliary support leg 25 in the front rolling support mechanism 22 rotates a set angle and reaches the fully folded state. The controller controls the electromagnetic reversing valve group 2 to act, and synchronously controls the two lateral telescopic drive hydraulic cylinders 39 to extend a set length, so that the front moving support mechanism 36 moves forward a certain distance relative to the rear moving support mechanism 37. After reaching the set position, the microprocessor 1 in the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to act, so that the four front frame support legs 6 return to the supported state.

[0114] S42: Keep the front moving support mechanism 36 in a supported state. The controller sends a movement signal to the rear adaptive support adjustment unit. After receiving the movement signal, the microprocessor 2 in the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to retract the corresponding rear frame support leg 9 by a set distance to reach the unsupported state. At the same time, the controller controls the electric hinge 42 in the rear rolling support mechanism 31 to rotate by a set angle so that the auxiliary support leg 25 in the rear rolling support mechanism 31 rotates by a set angle and reaches the fully folded state. The controller controls the electromagnetic reversing valve group 2 to operate, and synchronously controls the two lateral telescopic drive hydraulic cylinders 39 to retract by a set length so that the rear moving support mechanism 37 moves forward a certain distance relative to the front moving support mechanism 36. After reaching the set position, the microprocessor 2 in the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to operate so that the four rear frame support legs 9 return to the supported state.

[0115] S43: Repeatedly execute S41 and S42 to realize the alternating stepping movement of the front moving support mechanism 36 and the rear moving support mechanism 37. At the same time, synchronously control the operation of the mesh winding drive motor so that the mesh winding mechanism 4 releases the mesh 3 at a uniform speed according to the stepping movement speed. The four front rolling support mechanisms 22 and three rear rolling support mechanisms 31 arranged in a staggered manner are used to tightly support the mesh 3 on the top plate surface, so as to realize the automatic follow-up laying operation of the mesh 3 segment by segment during the stepping support process of the support.

[0116] Simultaneously, the controller determines whether pedestrians or other equipment are passing ahead based on real-time received frontal environmental image data and frontal obstacle signals. When pedestrians or other equipment are passing ahead, it controls the first electromagnetic reversing valve group to operate in the neutral position, stopping the forward-stepping self-moving operation. Simultaneously, it determines whether pedestrians or other equipment are passing behind based on real-time received rearal environmental image data and rearal obstacle signals. When pedestrians or other equipment are passing behind, it controls the second electromagnetic reversing valve group to operate in the neutral position, stopping the forward-stepping self-moving operation. The controller obtains frontal temperature and humidity data and frontal gas concentration data based on real-time received frontal temperature and humidity signals and frontal gas concentration signals. When any data exceeds the corresponding set threshold, it controls the alarm module to activate an alarm action and simultaneously sends an alarm reminder message to the display screen. Similarly, it obtains rearal temperature and humidity data and rearal gas concentration data based on real-time received rearal temperature and humidity signals and rearal gas concentration signals. When any data exceeds the corresponding set threshold, it controls the alarm module to activate an alarm action and simultaneously sends an alarm reminder message to the display screen.

[0117] Simultaneously, the controller obtains the pressure data of multiple support bodies 30 based on the real-time received pressure signals, and obtains the force distribution of multiple support points based on the pressure data of multiple support bodies 30. Then, based on the force distribution of multiple support points, it adjusts the extension and retraction amplitude of multiple support cylinders 26 in a closed loop so that the support height of the multiple support bodies 30 corresponding to the front rolling support mechanism 22 and the multiple support bodies 30 corresponding to the rear rolling support mechanism 31 adapts to the undulation of the roof plate and makes the force of multiple support points uniform. When the pressure data of one or more support points is abnormal, the control alarm module performs an alarm action and sends an alarm reminder message to the display screen.

[0118] Step 5: System reset;

[0119] After completing the support task, the intelligent stepping and automatic mesh laying temporary support system is restored to its initial state, and the data from this operation is recorded.

[0120] To prevent the grid mesh from deviating from the predetermined trajectory and to ensure laying quality, in step four (S43), when the grid mesh 3 deviates, the adjustment device is used to adjust the grid mesh 3 to prevent it from deviating. At the same time, it is ensured that the mesh surface of the grid mesh 3 is taut to the set tension state. Meanwhile, the controller obtains the laying length data of the grid mesh 3 based on the rotation speed and working time of the winding drive motor, and obtains the remaining material data of the grid mesh 3. When the remaining material data is less than the set remaining threshold, the alarm device is controlled to perform an alarm action and send a reminder message of insufficient remaining material to the display screen.

[0121] To ensure stability during the self-movement process, in step four, S41, the front support adjustment component monitors the corresponding front support leg 6 and sends the collected front support displacement signal, front support pressure signal, and forward tilt angle signal to the microprocessor. The microprocessor obtains the front support displacement data, front support pressure data, and forward tilt angle data based on the front support displacement signal, front support pressure signal, and forward tilt angle signal. Based on the front support displacement data and front support pressure data, it controls the electromagnetic reversing valve to adjust the extension and retraction range of the corresponding front support leg 6 to adapt to the current support conditions. Based on the forward tilt angle data, it controls the front support foot drive motor to rotate by a set angle to drive the rotatable support foot 40 to achieve a support state that is in contact with the ground.

[0122] In step S42 of step four, the corresponding rear support leg 9 is monitored using the rear support adjustment component, and the collected rear support displacement signal, rear support pressure signal, and rear tilt angle signal are sent to the microprocessor 2. The microprocessor 2 obtains the rear support displacement data, rear support pressure data, and rear tilt angle data based on the rear support displacement signal, rear support pressure signal, and rear tilt angle signal, and controls the electromagnetic reversing valve 2 to adjust the extension and retraction range of the corresponding rear support leg 9 to adapt to the current support condition. Based on the rear tilt angle data, the rear support foot drive motor is controlled to rotate by a set angle to drive the rotatable support foot 2 42 to achieve a support state that is in contact with the ground.

[0123] To facilitate intuitive observation of the support operation, roadway pressure distribution, and main grid mesh laying progress through 3D visualization, in step S43 of step four, the controller transmits the real-time received front environmental image data, front obstacle signal, rear environmental image data, rear obstacle signal, grid mesh 3 laying length data, and force distribution of multiple support points to the data processor via the wireless communication link between wireless communication module one and wireless communication module two. The data processor performs 3D modeling of the working environment based on the environmental image data and obstacle signal, and displays it intuitively in real time on the display. The data processor obtains roadway pressure distribution data based on the force distribution of multiple support points, and displays the grid mesh 3 laying length data and roadway pressure distribution data intuitively in real time on the display.

Claims

1. A smart, self-propelled, automatic netting temporary support system, comprising a rolling support device (1), characterized in that, It also includes an auxiliary winding mechanism (2), a winding mechanism (4), a grid mesh (3), and a main control unit; The rolling support device (1) includes a front moving support mechanism (36), a rear moving support mechanism (37), and a lateral telescopic drive hydraulic cylinder (20); The front moving support mechanism (36) includes a front support frame (11), a front rolling support mechanism (22), a front frame support leg (6), and a front adaptive support adjustment unit; the front support frame (11) includes a front frame front crossbeam (13), a front frame rear crossbeam (5), and a front frame longitudinal beam (7); the front frame front crossbeam (13) and the front frame rear crossbeam (5) are arranged side by side; the front frame front crossbeam (13) has two corresponding front mounting grooves (38) on the upper part of both ends in the length direction, and a front camera (17), a front lidar sensor (18), and a front temperature, humidity, and gas concentration sensor group (19) are installed on the front end face; the upper part of the front frame rear crossbeam (5) The part has two rear mounting grooves (15) at the positions corresponding to the two front mounting grooves (38), and three front guide grooves (16) are provided in the central area and the two end areas between the two rear mounting grooves (15); two front frame longitudinal beams (7) are distributed side by side, and their front ends are respectively fixedly installed in the two front mounting grooves (38) on the front crossbeam (13) of the front frame, and their rear ends are respectively fixedly installed in the two rear mounting grooves (15) on the rear crossbeam (5) of the front frame; two guide grooves (21) are provided on the upper part of the two front frame longitudinal beams (7) on the side that are close to each other; the number of the front rolling support mechanism (22) is four, and they are evenly installed in the left and right direction. The upper end of the front support frame (11); the front rolling support mechanism (22) includes a support base plate (23), auxiliary support legs (25) and a support unit (24); the length direction of the support base plate (23) extends in the front-rear direction and is horizontally arranged; the auxiliary support leg (25) is a telescopic hydraulic cylinder, the cylinder is located at the upper part, and the upper end of the auxiliary support leg (25) is rotatably connected to the lower end center of the support base plate (23) through an electric hinge (42); multiple sets of support units (24) are sequentially and adjacently fixedly connected to the upper end surface of the support base plate (23) along the length direction; the support unit (24) is composed of three support bodies (30) sequentially adjacent in the left-right direction; the support body ( 30) Includes a support cylinder (26), a roller support (27), a roller (28), and a pressure sensor. The base of the support cylinder (26) is vertically fixed on the support base plate (23). The lower end of the roller support (27) is fixedly connected to the piston rod end of the support cylinder (26). The roller (28) is rotatably mounted on the upper end of the roller support (27) through a central pivot (29). The pressure sensor is installed between the lower end of the roller support (27) and the piston rod end of the support cylinder (26) to collect the pressure signal borne by the roller support (27). The front support leg (6) is a telescopic hydraulic cylinder with its cylinder located at the top.Two pairs of front frame support legs (6) are distributed at intervals, and the front pair of front frame support legs (6) are fixedly installed on the left and right ends of the lower end face of the front crossbeam (13) of the front frame, and the rear pair of front frame support legs (6) are fixedly installed on the left and right ends of the lower end face of the rear crossbeam (5) of the front frame. The front adaptive support adjustment unit includes four front support adjustment components, which are respectively disposed on the four front support legs (6). Each front support adjustment component includes a front support displacement sensor, a front support pressure sensor, a front electric rotating support, a front tilt angle sensor, an electromagnetic reversing valve, a transmission module, and a microprocessor (39). The front support displacement sensor is connected to the piston rod of the front support leg (6) and is used to collect the extension and retraction displacement signal of the front support leg (6). The front support pressure sensor is connected to the rodless cavity of the front support leg (6) and is used to collect the pressure signal in the rodless cavity of the front support leg (6). The front electric rotating support includes a rotatable support foot (40) and a front support foot drive motor. A (40) is hinged to the piston rod end of the front support leg (6). The front support leg drive motor is installed on one side of the piston rod end of the front support leg (6). Its output shaft is connected to the rotation shaft of the rotatable support leg (40) to drive the rotatable support leg (40) to rotate relative to the front support leg (6). The tilt angle sensor is installed on the rotatable support leg (40) to collect the tilt angle signal of the rotatable support leg (40). The oil inlet of the electromagnetic reversing valve is connected to the high-pressure oil source, and its working oil port is connected to the front support leg (6). The microprocessor (39) is connected to the front support displacement sensor, the front support pressure sensor, the tilt angle sensor, the front support leg drive motor, the electromagnetic reversing valve, and the transmission module. The rear moving support mechanism (37) includes a rear support frame (12) and a rear rolling support mechanism (31); the rear frame longitudinal beam (10) and the rear support frame (12) include a rear frame front crossbeam (8), a rear frame rear crossbeam (14), a rear frame support leg (9), and a rear adaptive support adjustment unit; the two rear frame longitudinal beams (10) are slidably fitted into two guide grooves (21) in the two front frame longitudinal beams (7); the rear frame front crossbeam (8) and the rear frame rear crossbeam (14) are arranged side by side on the front and rear sides of the front frame rear crossbeam (5); the upper part of the rear frame front crossbeam (8) has two rear guide grooves (32) corresponding to the positions of the two front rolling support mechanisms (22) near the center area, and the two ends of its length direction are fixedly connected to the front ends of the two front frame longitudinal beams (7); a rear guide groove is installed on the rear end face of the rear frame rear crossbeam (14). The camera (33), the rear lidar sensor (34), and the rear temperature, humidity and gas concentration sensor group (35) are fixedly connected at both ends of the length direction to the rear ends of the two front frame longitudinal beams (7); the structure of the rear rolling support mechanism (31) is the same as that of the front rolling support mechanism (22); there are three rear rolling support mechanisms (31), which are respectively located above the three front guide grooves (16) and are fixedly installed side by side on the upper end of the rear support frame (12); the rear frame support leg (9) is a telescopic hydraulic cylinder, and its cylinder is located at the upper part; the two pairs of rear frame support legs (9) are distributed in a front-to-back interval, and the pair of rear frame support legs (9) on the front side are fixedly installed on the left and right ends of the lower end face of the rear frame front crossbeam (8), and the pair of rear frame support legs (9) on the rear side are fixedly installed on the left and right ends of the lower end face of the rear frame rear crossbeam (14); The rear adaptive support adjustment unit includes four rear support adjustment components, which are respectively installed on the four rear support legs (9). Each rear support adjustment component includes a rear support displacement sensor, a rear support pressure sensor, a rear electric rotating support, a rear tilt angle sensor, a second electromagnetic reversing valve, a second transmission module, and a second microprocessor (40). The rear support displacement sensor is connected to the piston rod of the rear support leg (9) and is used to collect the extension and retraction displacement signal of the rear support leg (9). The rear support pressure sensor is connected to the rodless cavity of the rear support leg (9) and is used to collect the pressure signal in the rodless cavity of the rear support leg (9). The rear electric rotating support includes a second rotatable support foot (42) and a rear support foot drive motor. The second (42) is hinged to the end of the piston rod of the rear support leg (9). The rear support leg drive motor is installed on one side of the piston rod end of the rear support leg (9). Its output shaft is connected to the rotation shaft of the rotatable support leg two (42) to drive the rotatable support leg two (42) to rotate relative to the rear support leg (9). The rear tilt angle sensor is installed on the rotatable support leg two (42) to collect the tilt angle signal of the rotatable support leg two (42). The oil inlet of the electromagnetic reversing valve two is connected to the high-pressure oil source, and its working oil port is connected to the rear support leg (9). The microprocessor two (40) is connected to the rear support displacement sensor, the rear support pressure sensor, the rear tilt angle sensor, the rear support leg drive motor, the electromagnetic reversing valve two, and the transmission module two, respectively. Two lateral telescopic drive hydraulic cylinders (20) are distributed on the outer side of the two rear frame longitudinal beams (10) respectively, and their bases are connected to the rear end face of the two front frame longitudinal beams (7) through two front connecting seats, and their piston rod ends are connected to the outer side of the rear section of the two rear frame longitudinal beams (10) through the rear connecting seats. The auxiliary winding mechanism (2) is fixedly connected between the front ends of the two front rolling support mechanisms located in the middle, and the front end face of the auxiliary winding mechanism (2) is an arc-shaped structure. At the same time, the auxiliary winding mechanism (2) is equipped with an adjustment device that can move along its length direction. The winding mechanism (4) includes a winding roller and a winding drive motor. The winding roller is rotatably connected between the upper ends of a pair of front frame support legs (6) on the front side via two short shafts at its two ends. The winding drive motor is mounted on one of the front frame support legs (6) on the front side, and its output shaft is connected to one of the short shafts of the winding roller. The main body of the grid (3) is wound around the winding drum of the winding mechanism (4), and its free end is wound through the auxiliary winding mechanism (2) and reaches the upper end face of the rolling support device (1). The main control unit includes a first electromagnetic directional valve group, a second electromagnetic directional valve group, a third electromagnetic directional valve group, a fourth electromagnetic directional valve group, a display screen, a wireless communication module, and a controller; the oil inlet of the first electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to multiple support cylinders (26) through high-pressure pipelines; the oil inlet of the second electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to two lateral telescopic drive hydraulic cylinders (20) through high-pressure pipelines; the oil inlet of the third electromagnetic directional valve group is connected to a high-pressure oil source, and its working oil port is connected to the auxiliary support leg (23) in the front rolling support mechanism (22), and so on. The inlet of the fourth electromagnetic reversing valve group is connected to the high-pressure oil source, and its working port is connected to the auxiliary support leg (22) in the rear rolling support mechanism (31); the display screen is installed on the rear frame longitudinal beam (10) on one side; the wireless communication module one is connected to the transmission module one and the transmission module two respectively; the controller is connected to the pressure sensor, the front camera (17), the front lidar sensor (18), the front temperature, humidity and gas concentration sensor group (19), the rear camera (33), the rear lidar sensor (34), the rear temperature, humidity and gas concentration sensor group (35), the winding drive motor, the bias adjustment device and the electric hinge (42) respectively.

2. The intelligent stepping self-moving, automatic netting temporary support system according to claim 1, characterized in that, The roller (28) is made of NBR nitrile rubber; the grid (3) is made of high-strength polymer material.

3. The intelligent step-by-step self-moving, automatic net-laying temporary support system according to claim 2, characterized in that, The lower end of the roller support (27) is provided with an installation hole with an internal thread structure; the piston rod end of the support cylinder (26) is provided with an external thread structure and is fixedly inserted into the installation hole by thread engagement.

4. A smart, self-propelled, automatic netting temporary support system according to claim 1, characterized in that, Both the front camera (27) and the rear camera (27) are 360-degree panoramic cameras.

5. A smart, self-propelled, automatic netting temporary support system according to claim 1 or 2, characterized in that, It also includes a ground monitoring center, which includes a data processor, a second wireless communication module, and a display; the second wireless communication module is connected to the first wireless communication module; and the data processor is connected to both the second wireless communication module and the display.

6. A smart, self-propelled, automatic netting temporary support system according to claim 1 or 2, characterized in that, The main control unit also includes an alarm module, which is installed on the rear longitudinal beam (10) on one side and connected to the controller.

7. A control method for an intelligent stepping self-moving, automatic netting temporary support system, employing the intelligent stepping self-moving, automatic netting temporary support system as described in any one of claims 1 to 6, characterized in that, Includes the following steps: Step 1: Initial Data Acquisition and Environmental Analysis; S11: The front camera (17) collects real-time image data of the front environment and sends it to the controller; the front lidar sensor (18) collects real-time obstacle signals and sends them to the controller; the front temperature, humidity and gas concentration sensor group (19) collects real-time front temperature and humidity signals and front gas concentration signals and sends them to the controller; the rear camera (33) collects real-time image data of the rear environment and sends it to the controller; the rear lidar sensor (34) collects real-time obstacle signals and sends them to the controller; the rear temperature, humidity and gas concentration sensor group (35) collects real-time rear temperature and humidity signals and rear gas concentration signals and sends them to the controller. S12: The controller processes the front and rear environmental image data based on machine learning optimization algorithms, analyzes the stability of the tunnel roof and surrounding rock based on the processing results, and generates initial support parameters; the controller obtains front temperature and humidity data and front gas concentration data based on the real-time received front temperature and humidity signals and front gas concentration signals, and controls the alarm module to perform an alarm action when any data exceeds the corresponding set threshold, while simultaneously sending an alarm reminder message to the display screen; at the same time, the controller obtains rear temperature and humidity data and rear gas concentration data based on the real-time received rear temperature and humidity signals and rear gas concentration signals, and controls the alarm module to perform an alarm action when any data exceeds the corresponding set threshold, while simultaneously sending an alarm reminder message to the display screen; Step 2: Positioning and initial support of the rolling support device; S21: Control the first electromagnetic reversing valve group to perform actions according to the initial support parameters, and adjust the extension and retraction amplitude of the corresponding multiple support cylinders (16) so that the support height of the corresponding multiple support bodies (30) on the front rolling support mechanism (22) and the corresponding multiple support bodies (30) on the rear rolling support mechanism (31) adapts to the undulation of the roof plate, and initially establishes temporary support. S22: The pressure sensor on the support body (30) is used to collect the pressure signal in real time and send it to the controller. The controller obtains the pressure data of multiple support bodies (30) based on the received pressure signals, and obtains the force distribution of multiple support points based on the pressure data of multiple support bodies (30). Then, the controller adjusts the extension and retraction amplitude of multiple support cylinders (26) in a closed loop based on the force distribution of multiple support points so that the force of multiple support points is uniform. Meanwhile, the front support adjustment component monitors the corresponding front support leg (6) and sends the collected front support displacement signal, front support pressure signal, and front tilt angle signal to the microprocessor. The microprocessor obtains the front support displacement data, front support pressure data, and front tilt angle data based on the front support displacement signal, front support pressure signal, and front tilt angle signal. Based on the front support displacement data and front support pressure data, the microprocessor controls the electromagnetic reversing valve to adjust the extension and retraction amplitude of the corresponding front support leg (6) to adapt to the current support condition. Based on the front tilt angle data, the microprocessor controls the front support foot drive motor to rotate by a set angle to drive the rotatable support foot (40) to achieve a support state that is in contact with the ground. At the same time, the microprocessor transmits the front tilt angle data to the controller through the wireless communication link between the transmission module and the wireless communication module. Based on the front tilt angle data, the controller controls the electric hinge (42) in the front rolling support mechanism (22) to rotate by a set angle so that the auxiliary support leg (25) in the front rolling support mechanism (22) rotates by a set angle and achieves an auxiliary support state. Meanwhile, the rear support adjustment component monitors the corresponding rear support leg (9) and sends the collected rear support displacement signal, rear support pressure signal, and rear tilt angle signal to the microprocessor 2. The microprocessor 2 obtains the rear support displacement data, rear support pressure data, and rear tilt angle data based on the rear support displacement signal, rear support pressure signal, and rear tilt angle signal. Based on the rear support displacement data and rear support pressure data, it controls the electromagnetic reversing valve 2 to adjust the extension and retraction amplitude of the corresponding rear support leg (9) to adapt to the current support condition. Based on the rear tilt angle data, it controls the rear support foot drive motor to rotate by a set angle to drive the rotatable support foot 2 (42) to achieve a support state that is in contact with the ground. At the same time, the microprocessor 2 transmits the rear tilt angle data to the controller through the wireless communication link between the transmission module 2 and the wireless communication module 1. Based on the rear tilt angle data, the controller controls the electric hinge (42) in the rear rolling support mechanism (31) to rotate by a set angle so that the auxiliary support leg (25) in the rear rolling support mechanism (31) rotates by a set angle and achieves an auxiliary support state. Step 3: Preparation for laying the grid mesh (3); After the free end of the grid mesh (3) is wound around the auxiliary winding mechanism (2), it reaches the upper end of the rolling support device (1) and is fixed. The release speed of the grid mesh (3) is adjusted according to the cross-sectional size of the roadway and the condition of the roof to ensure that the grid mesh (3) is evenly unfolded. Step 4: Intelligent netting installation and step-by-step support work in tandem; S41: Keep the rear moving support mechanism (37) in a supported state. The controller sends a moving signal to the forward adaptive support adjustment unit. After receiving the moving signal, the microprocessor 1 in the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to move, so that the corresponding front frame support leg (6) retracts a set distance to reach a non-supported state. At the same time, the controller controls the electric hinge (42) in the front rolling support mechanism (22) to rotate a set angle so that the auxiliary support leg (25) in the front rolling support mechanism (22) rotates a set angle and reaches a fully folded state. The controller controls the electromagnetic reversing valve group 2 to move, and synchronously controls the two lateral telescopic drive hydraulic cylinders (20) to extend a set length so that the front moving support mechanism (36) moves forward a distance relative to the rear moving support mechanism (37). After reaching the set position, the microprocessor 1 in the four front support adjustment components controls the corresponding electromagnetic reversing valve 1 to move, so that the four front frame support legs (6) return to the supported state. S42: Keep the front moving support mechanism (36) in a supported state. The controller sends a moving signal to the rear adaptive support adjustment unit. After receiving the moving signal, the microprocessor 2 in the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to move, so that the corresponding rear frame support leg (9) retracts a set distance to reach a non-supported state. At the same time, the controller controls the electric hinge (42) in the rear rolling support mechanism (31) to rotate a set angle so that the auxiliary support leg (25) in the rear rolling support mechanism (31) rotates a set angle and reaches a fully folded state. The controller controls the electromagnetic reversing valve group 2 to move, and synchronously controls the two lateral telescopic drive hydraulic cylinders (20) to retract a set length so that the rear moving support mechanism (37) moves forward a distance relative to the front moving support mechanism (36). After reaching the set position, the microprocessor 2 in the four rear support adjustment components controls the corresponding electromagnetic reversing valve 2 to move, so that the four rear frame support legs (9) reach the supported state again. S43: Repeatedly execute S41 and S42 to realize the alternating stepping movement of the front moving support mechanism (36) and the rear moving support mechanism (37). At the same time, synchronously control the operation of the mesh drive motor so that the mesh mechanism (4) releases the grid mesh (3) at a uniform speed according to the stepping movement speed. The four front rolling support mechanisms (22) and three rear rolling support mechanisms (31) arranged in a staggered manner support the grid mesh (3) tightly against the top plate surface, so as to realize the automatic follow-up laying operation of the grid mesh (3) in segments during the stepping support process. Simultaneously, the controller determines whether pedestrians or other equipment are passing ahead based on real-time received frontal environmental image data and frontal obstacle signals. When pedestrians or other equipment are passing ahead, it controls the first electromagnetic reversing valve group to operate in the neutral position, stopping the forward-stepping self-moving operation. Simultaneously, it determines whether pedestrians or other equipment are passing behind based on real-time received rearal environmental image data and rearal obstacle signals. When pedestrians or other equipment are passing behind, it controls the second electromagnetic reversing valve group to operate in the neutral position, stopping the forward-stepping self-moving operation. The controller obtains frontal temperature and humidity data and frontal gas concentration data based on real-time received frontal temperature and humidity signals and frontal gas concentration signals. When any data exceeds the corresponding set threshold, it controls the alarm module to activate an alarm action and simultaneously sends an alarm reminder message to the display screen. Similarly, it obtains rearal temperature and humidity data and rearal gas concentration data based on real-time received rearal temperature and humidity signals and rearal gas concentration signals. When any data exceeds the corresponding set threshold, it controls the alarm module to activate an alarm action and simultaneously sends an alarm reminder message to the display screen. Meanwhile, the controller obtains the pressure data of multiple supports (30) based on the multiple pressure signals received in real time, and obtains the force distribution of multiple support points based on the pressure data of multiple supports (30). Then, based on the force distribution of multiple support points, the controller adjusts the extension and retraction amplitude of multiple support cylinders (26) in a closed loop so that the support height of the multiple supports (30) on the front rolling support mechanism (22) and the multiple supports (30) on the rear rolling support mechanism (31) adapts to the undulation of the top plate and makes the force of multiple support points uniform. When the pressure data of one or more support points is abnormal, the control alarm module performs an alarm action and sends an alarm reminder message to the display screen. Step 5: System reset; After completing the support task, the intelligent stepping and automatic mesh laying temporary support system is restored to its initial state, and the data from this operation is recorded.

8. The control method for an intelligent stepping self-moving, automatic netting temporary support system according to claim 7, characterized in that, In step S43 of step four, when the grid mesh (3) deviates, the grid mesh (3) is adjusted by the adjustment device to prevent the grid mesh (3) from deviating. At the same time, the grid mesh (3) is ensured to be taut to the set tension state. Meanwhile, the controller obtains the laying length data of the grid mesh (3) based on the rotation speed and working time of the winding drive motor, and obtains the remaining material data of the grid mesh (3). When the remaining material data is less than the set remaining threshold, the alarm device is controlled to perform an alarm action and send a reminder message of insufficient remaining material to the display screen.

9. The control method for an intelligent stepping self-moving, automatic netting temporary support system according to claim 8, characterized in that, In step S41 of step four, the front support adjustment component is used to monitor the corresponding front support leg (6), and the collected front support displacement signal, front support pressure signal and front tilt angle signal are sent to microprocessor one. Microprocessor one obtains front support displacement data, front support pressure data and front tilt angle data according to the front support displacement signal, front support pressure signal and front tilt angle signal, and controls the electromagnetic reversing valve one to act according to the front support displacement data and front support pressure data, so as to adjust the extension range of the corresponding front support leg (6) to adapt to the current support working condition. According to the front tilt angle data, the front support foot drive motor is controlled to rotate by a set angle to drive the rotatable support foot one (40) to achieve a support state that is in contact with the ground. In step S42 of step four, the corresponding rear support leg (9) is monitored using the rear support adjustment component, and the collected rear support displacement signal, rear support pressure signal, and rear tilt angle signal are sent to the microprocessor two. The microprocessor two obtains the rear support displacement data, rear support pressure data, and rear tilt angle data based on the rear support displacement signal, rear support pressure signal, and rear tilt angle signal, and controls the electromagnetic reversing valve two to adjust the extension and retraction range of the corresponding rear support leg (9) to adapt to the current support condition. Based on the rear tilt angle data, the rear support foot drive motor is controlled to rotate by a set angle to drive the rotatable support foot two (42) to achieve a support state that is in contact with the ground.

10. The control method for an intelligent stepping self-moving, automatic netting temporary support system according to claim 9, characterized in that, In step S43 of step four, the controller sends the real-time received front environmental image data, front obstacle signal, rear environmental image data, rear obstacle signal, grid mesh (3) laying length data, and force distribution of multiple support points to the data processor through the wireless communication link between wireless communication module one and wireless communication module two. The data processor performs three-dimensional modeling of the working environment based on the environmental image data and obstacle signal, and displays it in real time on the display. The data processor obtains the roadway pressure distribution data based on the force distribution of multiple support points, and displays the grid mesh (3) laying length data and roadway pressure distribution data in real time on the display.

Images