US 10,975,695 B2Granted

Hydraulic support monitoring support pose in real time based on inertia measurement unit and detection method thereof

AssigneesChina University of Mining and Technology, Xuzhou Goldfluid Hydraulic Technology Development Co., Ltd.

InventorsZhongbin Wang, Xuliang Lu, Chao Tan, Haifeng Yan, Lei Si, Xingang Yao

Life of this patent

Estimating the term…

Loading patent…

Abstract

A hydraulic support monitoring a support pose in real time based on an inertia measurement unit (IMU) and a detection method thereof. In the hydraulic support, IMU sensors are separately mounted on a roof beam, a rear linkage, and a base, and an auxiliary support pose monitoring system is disposed. Each IMU sensor measures movement states of the roof beam, the rear linkage, and the base of the support in real time, and the support pose monitoring system processes the movement states to monitor a support pose of the hydraulic support in real time. Especially, it can be technically determined whether the hydraulic support is adequately lowered, moved or raised, thereby effectively reducing the labor intensity of workers and improving the working efficiency of the hydraulic support.

Claims10

Dependent claims

A hydraulic support comprising a base, a roof beam, a gob shield, a front linkage, a rear linkage, a column, and a balance jack, wherein the roof beam is supported above the base by the column, a tail end of the roof beam is hinged to one end of the gob shield, and an other end of the gob shield is provided with a site C and a site D that are spaced apart from each other;

the site C and the site D of the gob shield are respectively hinged to a site A and a site B on the base by the front linkage and the rear linkage, to form a four-linkage support mechanism;
one end of the balance jack is connected to the roof beam, and an other end of the balance jack is connected to the gob shield;
and the hydraulic support further comprises three inertia measurement unit (IMU) sensors and a support pose monitoring system, wherein
the three IMU sensors are a first IMU sensor, a second IMU sensor, and a third IMU sensor;
the first IMU sensor is mounted on the roof beam, and is configured to detect attitude angle information of the roof beam and feed the attitude angle information back to the support pose monitoring system;
the second IMU sensor is mounted on the rear linkage, and is configured to detect attitude angle information of the rear linkage and feed the attitude angle information back to the support pose monitoring system;
the third IMU sensor is mounted on the base, and is configured to detect attitude angle information of the base and feed the attitude angle information back to the support pose monitoring system;
and
the support pose monitoring system comprises an attitude angle information acquisition module, an attitude angle information analysis and processing module, and a support pose output module, wherein
the attitude angle information acquisition module receives the attitude angle information detected by each of the three IMU sensors, and transmits the attitude angle information to the attitude angle information analysis and processing module;
and
the attitude angle information analysis and processing module receives the attitude angle information transmitted by the attitude angle information acquisition module, performs conversion calculation by combining received attitude angle information with a length of each bar in the four-linkage support mechanism and according to a D-H matrix coordinate conversion principle, to obtain a support height h of the hydraulic support, and compare an obtained support height h with a plurality of support height target values after a support is lowered, moved or raised, to determine whether the hydraulic support is adequately lowered, moved or raised, thereby monitoring a support pose of the hydraulic support in a process of lowering, moving or raising the hydraulic support.

9 more elements

A method for detecting a support pose of a hydraulic support, wherein in a step of lowering, moving or raising a hydraulic support, a support pose of the hydraulic support needs to be monitored in real time to determine whether the hydraulic support has been lowered, moved or raised to reach a target support pose, wherein hydraulic support further comprises three inertia measurement unit (IMU) sensors and a support pose monitoring system, and wherein the support pose of the hydraulic support is represented by an attitude angle of a roof beam and a support height h of a support height reference point K selected on the roof beam;

and the detection method comprises the following steps:
(1) in a process of lowering, moving or raising the support, recording pose information fed back by each IMU sensors and a support pose monitoring system IMU sensor in real time to update an attitude angle of a component on which the each IMU sensor is mounted, wherein
the three IMU sensors comprises of a first IMU sensor mounted on the roof beam, a second IMU sensor mounted on a rear linkage, and a third IMU sensor mounted on a base;
(2) performing a coordinate conversion and a geometric conversion by combining the pose information detected by the each IMU sensor of the three IMU sensors in an absolute coordinate system with a length of each bar in a four-linkage support mechanism to respectively obtain a joint rotation angle θ1 of the base, a joint rotation angle θ2 of the rear linkage, a joint rotation angle θ3 of a gob shield, and a joint rotation angle θ4 of the roof beam;
and
(3) performing the coordinate conversion between an absolute coordinate system {O0} and a D-H coordinate system according to a D-H matrix coordinate transformation principle, according to an obtained joint rotation angle θ1 of the base, joint rotation angle θ2 of the rear linkage, joint rotation angle θ3 of the gob shield, and joint rotation angle θ4 of the roof beam, and by combining a plurality of structural parameters of the hydraulic support and the attitude angle of the roof beam fed back by the first IMU sensor to obtain the support height h, wherein the support height h is expressed by a vertical distance between the support height reference point K and an origin O of the base in a Y-axis direction;
in the absolute coordinate system {O0}, a horizontal direction of a longitudinal plane of the hydraulic support is used as an X-axis direction, an upward direction perpendicular to the X axis in the longitudinal plane of the hydraulic support is used as the Y-axis direction, and an outward direction perpendicular to the longitudinal plane of the hydraulic support is used as a Z-axis;
the base coordinate system {O1} is a D-H coordinate system established by using a point O as an origin;
the rear linkage coordinate system {O2} is a D-H coordinate system established by using a joint site A between the rear linkage and the base as an origin;
the gob shield coordinate system {O3} is a D-H coordinate system established by using a joint site C between the gob shield and the rear linkage as an origin;
and the roof beam coordinate system {O4} is a D-H coordinate system established by using a joint site F between the roof beam and the gob shield as an origin;
wherein the hydraulic support includes a front linkage, the joint site C and the joint site D of the gob shield are respectively hinged to a joint site A and a joint site B on the base by the front linkage and the rear linkage, to form the four-linkage support mechanism;
and
determining, by comparing a calculated support height h with a plurality of support height target values after the hydraulic support is lowered, moved or raised, whether the hydraulic support is adequately lowered, moved or raised, wherein
if in a lowering process, the calculated support height h is the same as a support height target value of lowering, the hydraulic support is adequately lowered, and the hydraulic support starts to be moved;
otherwise, the hydraulic support continues being lowered;
if in a moving process, the calculated support height h is the same as a support height target value of moving, the hydraulic support is adequately moved, and the hydraulic support starts to be raised;
otherwise, the hydraulic support continues being moved;
and
if in a raising process, the calculated support height h is the same as a support height target value of raising, the hydraulic support is adequately raised, and the entire operation procedure of the hydraulic support is ended;
otherwise, the hydraulic support continues being raised.

18 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/766,712Filed 18 Jun 2019
Priority: CN 201811632720.429 Dec 2018
Published: US 2021/0010373 A114 Jan 2021
Granted: 13 Apr 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification3 codes

E21D 15/51
Component parts or details of props: specially adapted to hydraulic, pneumatic, or hydraulic-pneumatic props, e.g. arrangements of relief valves
E21D 23/04
Mine roof supports for step- by- step movement, e.g. in combination with provisions for shifting of conveyors, mining machines, or guides…
E21D
Shafts