A method and system for automatic electro-hydraulic control of hydraulic support

Abstract

The present invention discloses an automatic following electro-hydraulic control method and system for a hydraulic support, belonging to the technical field of automatic following electro-hydraulic control for hydraulic supports; the technical problem to be solved is: to provide an automatic following electro-hydraulic control method for a hydraulic support and an improvement on the hardware structure of its control system; the technical scheme adopted to solve the technical problem is: a staff member installs a following control system in a control room, installs a main controller in a control cabinet, and sets an automatic following control program for the hydraulic support through a display screen and a keyboard, wherein the program divides the coal cutting process of the automatic following of the hydraulic support into: an intermediate section, a primary coal sweeping section, an oblique cutting section, a triangular coal cutting section, a secondary coal sweeping section, and a triangular coal switching intermediate section; a following mode is configured for each following coal cutting process, and a support action program for each coal cutting process section is preset according to the on-site coal cutting situation; a side guard support, a side guard support, a moving support, a sliding support, and a spray support installed on a coal machine are configured; the present invention is applied to the following control site of a hydraulic support.

Description

Technical Field

[0001] The invention discloses an automatic follower electro-hydraulic control method and system for a hydraulic support, belonging to the technical field of automatic follower electro-hydraulic control for a hydraulic support. Background Art

[0002] The working environment of underground coal mine working faces is harsh, and there are many hidden dangers of disasters caused by natural or man-made factors, which seriously threaten the health and even life safety of mine workers. Therefore, investing in and promoting the application of unmanned mining systems will be the trend of future mine infrastructure construction; in recent years, fully mechanized mining automation working face systems have been widely used in coal mines. After the country vigorously promoted the application of fully mechanized mining automation technology in coal mines, many large and medium-sized coal mines have gradually begun to adopt fully mechanized mining automation technology for application in underground coal mines; however, the currently used fully mechanized mining automation technology has a cumbersome process flow when performing coal cutting operations. During the following machine process, it is restricted by the single function of the control system, and most of the following machine operations still require manual operation, which is time-consuming and labor-intensive. In addition, the coal cutting bracket often fails, and the maintenance workload is large, resulting in reduced productivity. Summary of the invention

[0003] In order to overcome the deficiencies in the prior art, the present invention aims to solve the following technical problems: to provide an automatic electro-hydraulic control method for a hydraulic support and an improvement in the hardware structure of its control system;

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a method for automatically following an electro-hydraulic control of a hydraulic support, comprising the following control steps:

[0005] Step 1: The staff installs the machine control system in the control room, installs the main controller in the control cabinet, and sets the hydraulic support automatic machine control program through the display screen and keyboard. The program divides the hydraulic support automatic machine cutting process into: middle section, first coal sweeping section, oblique cutting section, triangular coal cutting section, second coal sweeping section, and triangular coal switching middle section;

[0006] Then, the following machine mode is configured for each following machine coal cutting process, and the support action program of each coal cutting process section is preset according to the on-site coal cutting situation;

[0007] The types of brackets configured include the retracting bracket, extending bracket, shifting bracket, pushing bracket, and spray bracket installed on the coal machine;

[0008] The configuration action content includes: according to the support status information fed back in real time by the time controller, travel sensor, pressure sensor and cylinder sensor installed on each support, an action signal is sent to the corresponding functional support to adjust the number of support actions, the position between the support and the coal machine, and the order of execution of the actions of each functional support;

[0009] After the above functions are configured, the staff starts the automatic following program of the hydraulic support and remotely controls the coal machine to cut coal;

[0010] Step 2: Execute the automatic following program to control the coal machine to cut coal in the middle section. The main controller sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform actions through the driver. The specific content of the execution action includes:

[0011] The first slave controller group executes the action of collecting and protecting the front side of the coal machine;

[0012] The second slave controller group executes the coal machine rear extension and side protection action;

[0013] The third slave controller group executes the action of moving the coal machine frame backward;

[0014] The fourth slave controller group executes the coal machine backward push and slide action;

[0015] The spraying action is performed by the fifth slave controller group;

[0016] Step 3: Execute the automatic following program to control the coal machine to cut coal in the first coal sweeping section of the triangular coal section. The main controller sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform actions through the driver. The specific content of the execution action includes:

[0017] The first slave controller group executes the action of collecting and protecting the front side of the coal machine;

[0018] The second slave controller group executes the coal machine rear extension and side protection action;

[0019] After the action is executed, according to the support status signal fed back by the support sensor group, the main controller sends a signal that the first coal sweeping section is completed, and within the support range set by the parameters, the support is controlled by the slave controller group to execute the sequential frame moving action;

[0020] Step 4: Execute the automatic follow-up program to control the coal machine to cut coal in the oblique cutting section of the triangular coal section. The main controller sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform the action through the driver. The specific content of the action includes:

[0021] The first slave controller group executes the action of collecting and protecting the front side of the coal machine;

[0022] The second slave controller group executes the coal machine rear extension and side protection action;

[0023] After the action is executed, according to the support status signal fed back by the support sensor group, the main controller sends a signal that the bevel cutting section is completed, and within the support range set by the parameters, the support is controlled by the slave controller group to execute the sequential push-slide action;

[0024] Step 5: Execute the automatic following program to control the coal machine to cut coal in the triangular coal section. The main controller sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform the action through the driver. The specific content of the execution action includes:

[0025] The first slave controller group executes the action of collecting and protecting the front side of the coal machine;

[0026] The second slave controller group executes the coal machine rear extension and side protection action;

[0027] The third slave controller group executes the action of moving the coal machine frame backward;

[0028] Step 6: Execute the automatic following program to control the coal machine to cut coal in the second coal sweeping section of the triangular coal section. The main controller sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform actions through the driver. The specific content of the execution action includes:

[0029] The first slave controller group executes the action of collecting and protecting the front side of the coal machine;

[0030] The second slave controller group executes the coal machine rear extension and side protection action;

[0031] After the action is executed, according to the support status signal fed back by the support sensor group, the main controller sends a second coal sweeping section completion signal, and within the support range set by the parameters, the support is controlled by the slave controller group to execute the sequential frame moving action;

[0032] Step 7: Execute the automatic follow-up program to control the coal machine to cut coal in the middle section of the triangular coal switch. The main controller sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform actions through the driver. The specific content of the execution action includes:

[0033] The third slave controller group executes the action of moving the coal machine frame backward;

[0034] The fourth slave controller group executes the coal machine backward push and slide action;

[0035] After the action is executed, according to the support status signal fed back by the support sensor group, the main controller sends a triangular coal section completion signal, and within the support range set by the parameters, the support is controlled by the slave controller group to perform a sequential frame moving action, and the support is controlled by the slave controller group to perform a sequential push-slide action;

[0036] Step 8: Repeat the operations from step 1 to step 7 above until the entire coal cutting process of the working face is completed. At this time, the sound and light alarm device of the control cabinet sends a prompt signal to remind the staff that the entire hydraulic support automatic following machine control program has been completed.

[0037] After the support executes the cylinder action through the support in steps 2 to 7, the corresponding slave controller group sends the support control information to the main controller. After the main controller analyzes and processes the information, it will send action instructions to the designated slave controller group according to the flatness of the working surface support, control the corresponding support action, and make the working surface supports arranged neatly.

[0038] The main controller controlling the coal cutting in steps 2 to 7 monitors the action of each group of supports through the corresponding slave controller group at the same time. When it is monitored that the corresponding support action is not in place, the main controller will send a re-execution action signal to the corresponding support controller.

[0039] When the automatic follow-up control program of the hydraulic support encounters a fault during execution, the sensor group of the corresponding support will feedback a fault signal to the main controller, and then the sound and light alarm device will give a prompt, and the staff in the control room can manually stop the follow-up program and continue.

[0040] An automatic follow-up electro-hydraulic control system for a hydraulic support, comprising a main controller arranged in a control room, and also comprising a first slave controller group, a second slave controller group, a third slave controller group, a fourth slave controller group, and a fifth slave controller group arranged at an end of the hydraulic support;

[0041] The communication port of the master controller is remotely connected to the first slave controller group, the second slave controller group, the third slave controller group, the fourth slave controller group, and the fifth slave controller group respectively through a communication bus;

[0042] The first slave controller group is bidirectionally connected to the corresponding guard support retracting solenoid valves through the driver, and is used to control the action of each guard support retracting cylinder;

[0043] The second slave controller group is bidirectionally connected to the corresponding extension and protection bracket solenoid valves through the driver, and is used to control the action of each extension and protection bracket cylinder;

[0044] The third slave controller group is bidirectionally connected to the corresponding rack moving solenoid valves through the driver, and is used to control the action of each rack moving support cylinder;

[0045] The fourth slave controller group is bidirectionally connected to the corresponding push-slide solenoid valves through the driver, and is used to control the action of each push-slide bracket cylinder;

[0046] The fifth slave controller group is bidirectionally connected to the corresponding spray solenoid valves through the driver, and is used to control the action of the oil cylinder of each spray bracket;

[0047] A corresponding sensor group and a time controller are also provided on each of the retracting and extending guard brackets, the extending and extending guard brackets, the moving brackets, the pushing and sliding brackets, and the spraying brackets. The sensor group includes a stroke sensor, a pressure sensor, and a cylinder sensor. The communication port of the main controller is remotely connected to the time controller, the stroke sensor, the pressure sensor, and the cylinder sensor through a communication bus.

[0048] The main controller is also connected to a display screen, a keyboard, an audible and visual alarm device, a data storage module, and a data communication module through wires.

[0049] The number of the first slave controller group, the second slave controller group, the third slave controller group, the fourth slave controller group, or the fifth slave controller group is set to 100-200 according to the working surface requirements of the coal cutter.

[0050] The data communication module is also connected to the monitoring server via a communication bus.

[0051] The beneficial effects of the present invention compared to the prior art are as follows: the following control system provided by the present invention is based on comprehensive mining automation technology, employees perform remote operation in the control room, and system integration is carried out through multiple devices. By optimizing the process and reducing the process sections, the complexity of the support action control is reduced. The present invention also improves the corresponding closed-loop control method to solve the problem that the automatic following action of the support is not performed properly in actual production, resulting in the working face support and scraper conveyor being not parallel to the coal wall, thereby improving productivity and reducing maintenance workload, so as to better realize the practical application of unmanned automated control of the comprehensive mining working face. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will be further described below in conjunction with the accompanying drawings:

[0053] Figure 1 Schematic diagram of the circuit structure of the electro-hydraulic control system of the present invention;

[0054] Figure 2 This is a flow chart of the automatic following function of the main controller of the present invention;

[0055] Figure 3 This is a flow chart of the automatic follow-up function of the slave controller group of the present invention;

[0056] Figure 4 This is a control flow chart of the middle section of the automatic following machine of the present invention;

[0057] Figure 5 This is a control flow chart of the automatic one-time coal sweeping section of the present invention;

[0058] Figure 6 This is a control flow chart of the automatic following machine oblique cutting into the knife section of the present invention;

[0059] Figure 7This is a control flow chart of the automatic cutting of triangular coal sections by the machine according to the present invention;

[0060] Figure 8 This is a control flow chart of the automatic secondary coal sweeping section of the present invention;

[0061] Fig. 9 This is a control flow chart of the automatic switching of the middle section of the triangular coal of the following machine according to the present invention.

[0062] In the figure: 1 is the main controller, 11 is the first slave controller group, 12 is the second slave controller group, 13 is the third slave controller group, 14 is the fourth slave controller group, 15 is the fifth slave controller group, 21 is the solenoid valve for collecting the guard arm, 22 is the solenoid valve for extending the guard arm, 23 is the solenoid valve for moving the rack, 24 is the solenoid valve for pushing and sliding, 25 is the solenoid valve for spraying, 31 is the time controller, 32 is the stroke sensor, 33 is the pressure sensor, 34 is the cylinder sensor, 41 is the display screen, 42 is the keyboard, 43 is the sound and light alarm device, 44 is the data storage module, and 45 is the data communication module. DETAILED DESCRIPTION

[0063] like Figures 1 to 9 As shown, the automatic following method provided by the present invention divides the entire coal cutting process into three major sections, specifically including the middle section, the triangular coal section and the triangular coal switching middle section, and further divides the triangular coal section into four sub-process sections, namely the primary coal sweeping section, the oblique cutting section, the triangular coal cutting section, and the secondary coal sweeping section, so that the whole coal cutting process is divided into six process sections;

[0064] The six process sections of the coal cutting process can be configured separately according to the site conditions. After the microcontroller in the electro-hydraulic control system completes the configuration, it will store and synchronize the configuration parameters to the entire electro-hydraulic control system. These configurations include:

[0065] The number of brackets that perform the spraying action, the position of the brackets relative to the coal machine, the position of the brackets from the coal machine, and the order in which the bracket actions are performed;

[0066] The number of supports that perform the action of collecting and protecting the support, the position of the supports from the coal machine, and the order in which the supports perform their actions;

[0067] The number of supports that perform the extension and protection action, the position of the supports from the coal machine, and the order in which the supports perform the actions;

[0068] The number of supports that perform the frame moving action, the position of the supports from the coal machine, and the order in which the support actions are performed;

[0069] The number of supports that perform the pushing and sliding action, the position of the supports from the coal machine, and the order in which the support actions are performed.

[0070] The trigger signal of the working face support controller to control the support action is sent by the main controller. The information sent by the main controller is the position of the coal mining machine, the direction of the coal mining machine, and the coal cutting process section of the coal mining machine. After the support executes the cylinder action, the support controller shall report the support information, and the main controller shall analyze and process it, and send action instructions to the designated support controller according to the flatness of the working face support movement, so that the working face supports can be arranged as neatly as possible.

[0071] Before the present invention is put into use, the microcontroller needs to be operated, the following machine mode needs to be selected according to the on-site conditions, and the support action of each coal cutting process section needs to be configured according to the on-site conditions.

[0072] When the coal machine is cutting coal in the middle section and the electro-hydraulic control system performs automatic following, the controllers that control the support execution actions are divided into five groups. The first group executes the coal machine front retracting and guarding action, the second group executes the coal machine rear extending and guarding action, the third group executes the coal machine rear moving action, the fourth group executes the coal machine rear pushing and sliding action, and the fifth group executes the spraying action. During the whole process, the main controller monitors the action of each group of supports. If the support action is not in place, the main controller will send a re-execution action command to the corresponding support controller.

[0073] For the first coal sweeping section of the coal machine in the triangular coal section, when the electro-hydraulic control system performs automatic following, the controllers that control the support execution actions are divided into two groups. The first group performs the coal machine front retracting and guarding action, and the second group performs the coal machine rear extension and guarding action. When the main controller sends the completion signal of the first coal sweeping section, within the range of the support set by the parameters, the electro-hydraulic control system controls the support to execute the sequential frame moving action. During the whole process, the main controller monitors the action of each group of supports. If the support frame moving action is not in place, the main controller will send a command to the corresponding support controller to execute the frame moving action again.

[0074] For the inclined cutting section of the coal machine in the triangular coal section, when the electro-hydraulic control system performs automatic following, the controllers that control the support execution actions are divided into two groups. The first group performs the coal machine front retracting and guarding action, and the second group performs the coal machine rear extension and guarding action. When the main controller sends a signal that the inclined cutting section is completed, within the range of the support set by the parameters, the electro-hydraulic control system controls the support to perform sequential pushing and sliding actions. During the whole process, the main controller monitors the actions of each group of supports. If the support pushing and sliding action is not in place, the main controller will send a command to the corresponding support controller to execute the pushing and sliding action again.

[0075] For the coal machine cutting triangular coal section, when the electro-hydraulic control system performs automatic following, the controllers that control the support execution actions are divided into 3 groups. The first group performs the coal machine front retracting and guarding action, the second group performs the coal machine rear extending and guarding action, and the third group performs the coal machine rear moving action. During the whole process, the main controller monitors the action of each group of supports. If the support frame moving action is not in place, the main controller will send a command to the corresponding support controller to execute the frame moving action again.

[0076] For the second coal sweeping section of the coal machine in the triangular coal section, when the electro-hydraulic control system performs automatic following, the controllers that control the support execution actions are divided into two groups. The first group performs the coal machine front retracting and guarding action, and the second group performs the coal machine rear extension and guarding action. When the main controller sends the second coal sweeping section completion signal, within the range of the support set by the parameters, the electro-hydraulic control system controls the support to perform the sequential frame shifting action. During the whole process, the main controller monitors the action of each group of supports. If the support frame shifting action is not in place, the main controller will send a command to the corresponding support controller to execute the frame shifting action again.

[0077] When the coal machine is in the middle section of the triangular coal switching and the electro-hydraulic control system performs automatic following, the controllers that control the support execution actions are divided into two groups. The first group performs the frame moving action, and the second group performs the pushing action. When the main controller sends a signal that the triangular coal section is completed, according to the support range set by the parameters and referring to the position of the coal machine, the electro-hydraulic control system controls the first group of supports to perform sequential frame moving actions, and the electro-hydraulic control system controls the second group of supports to perform sequential pushing actions. During the whole process, the main controller must monitor the actions of each group of supports. If the support frame moving action is not in place, the main controller will send a command to the corresponding support controller to execute the frame moving action again. If the support pushing action is not in place, the main controller will send a command to the corresponding support controller to execute the pushing action again.

[0078] The electro-hydraulic control system provided by the present invention can realize the automated production of the entire working face, not only the middle section of coal mining, but also the automated pulling and pushing of the supports in the triangular coal section, thereby simplifying the process flow, and the whole coal cutting only needs to be divided into three major sections and six process sections to be completed; in the automatic following process, after the support executes the cylinder action, the controller uploads the corresponding support information, and the main controller analyzes and processes the support information to form a closed-loop processing process, so that the supports independent of each other can realize the collective coordination support function under the control of the main controller. The present invention can be used to coordinate automation and manual intervention on the working face with poor working conditions, thereby improving productivity and reducing the labor intensity of workers.

[0079] What needs to be explained about the specific structure of the present invention is that the connection relationship between the various component modules adopted in the present invention is definite and feasible. Except for the special instructions in the embodiments, the specific connection relationship can bring about the corresponding technical effects, and solve the technical problems raised by the present invention without relying on the execution of the corresponding software program. Except for the specific instructions, the models and connection methods of the components, modules and specific components appearing in the present invention belong to the existing technologies such as published patents, published journal articles, or common knowledge that can be obtained by technical personnel in this field before the application date, and there is no need to elaborate, so that the technical solution provided in this case is clear, complete and feasible, and the corresponding physical products can be reproduced or obtained according to the technical means.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for automatic electro-hydraulic control of a hydraulic support, characterized in that: The control steps include: Step 1: A staff member installs a machine following control system in a control room, installs a main controller (1) in a control cabinet, and sets a hydraulic support automatic machine following control program through a display screen (41) and a keyboard (42). The program divides the hydraulic support automatic machine following coal cutting process into: an intermediate section, a primary coal sweeping section, an oblique cutting section, a triangular coal cutting section, a secondary coal sweeping section, and a triangular coal switching intermediate section; Then, the following machine mode is configured for each following machine coal cutting process, and the support action program of each coal cutting process section is preset according to the on-site coal cutting situation; The types of brackets configured include the retracting bracket, extending bracket, shifting bracket, pushing bracket, and spray bracket installed on the coal machine; The configuration action content includes: sending an action signal to the corresponding functional support according to the support state information fed back in real time by the time controller (31), the stroke sensor (32), the pressure sensor (33), and the cylinder sensor (34) installed on each support, so as to adjust the number of support actions, the position between the support and the coal machine, and the execution order of the actions of each functional support; After the above functions are configured, the staff starts the automatic following program of the hydraulic support and remotely controls the coal machine to cut coal; Step 2: Execute the automatic follow-up program to control the coal cutter to cut coal in the middle section. The main controller (1) sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform an action through the driver. The specific content of the action includes: The first slave controller group (11) executes the action of retracting the front side of the coal machine; The second slave controller group (12) executes the coal machine rearward extension and side protection action; The third slave controller group (13) executes the action of moving the coal machine frame backward; The fourth slave controller group (14) executes the coal machine backward push sliding action; The spraying action is performed by the fifth slave controller group (15); Step 3: Execute the automatic follow-up program to control the coal miner to cut coal in the first coal sweeping section of the triangular coal section. The main controller (1) sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform an action through the driver. The specific content of the execution of the action includes: The first slave controller group (11) executes the action of retracting the front side of the coal machine; The second slave controller group (12) executes the coal machine rearward extension and side protection action; After the action is executed, according to the support status signal fed back by the support sensor group, the main controller (1) sends a signal indicating that the first coal sweeping section is completed, and within the support range set by the parameters, the support is controlled by the slave controller group to execute the sequential support moving action; Step 4: Execute the automatic follow-up program to control the coal cutter to cut coal in the oblique cutting section of the triangular coal section. The main controller (1) sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform an action through the driver. The specific content of the execution of the action includes: The first slave controller group (11) executes the action of retracting the front side of the coal machine; The second slave controller group (12) executes the coal machine rearward extension and side protection action; After the action is executed, according to the support state signal fed back by the support sensor group, the main controller (1) sends a signal that the bevel cutting section is completed, and within the support range set by the parameters, the support is controlled by the slave controller group to execute a sequential push-slide action; Step 5: Execute the automatic following program to control the coal machine to cut coal in the triangular coal section. The main controller (1) sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform the action through the driver. The specific content of the execution of the action includes: The first slave controller group (11) executes the action of retracting the front side of the coal machine; The second slave controller group (12) executes the coal machine rearward extension and side protection action; The third slave controller group (13) executes the action of moving the coal machine frame backward; Step 6: Execute the automatic following program to control the coal miner to cut coal in the second coal sweeping section of the triangular coal section. The main controller (1) sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform an action through the driver. The specific content of the execution of the action includes: The first slave controller group (11) executes the action of retracting the front side of the coal machine; The second slave controller group (12) executes the coal machine rearward extension and side protection action; After the action is executed, according to the support status signal fed back by the support sensor group, the main controller (1) sends a second coal sweeping section completion signal, and within the support range set by the parameters, the support is controlled by the slave controller group to execute the sequential frame moving action; Step 7: Execute the automatic follow-up program to control the coal machine to cut coal in the middle section of the triangular coal switch. The main controller (1) sends a control signal to the corresponding slave controller group according to the preset program, and the slave controller group controls the corresponding bracket to perform an action through the driver. The specific content of the execution of the action includes: The third slave controller group (13) executes the action of moving the coal machine frame backward; The fourth slave controller group (14) executes the coal machine backward push sliding action; After the action is executed, according to the support status signal fed back by the support sensor group, the main controller (1) sends a triangular coal section completion signal, and within the support range set by the parameters, the support is controlled by the slave controller group to execute a sequential frame moving action, and the support is controlled by the slave controller group to execute a sequential pushing and sliding action; Step 8: Repeat the operations of steps 1 to 7 above until the entire coal cutting process of the working face is completed. At this time, the sound and light alarm device (43) of the control cabinet sends a prompt signal to remind the staff that the entire hydraulic support automatic follow-up control program has been completed.

2. The method for automatic electro-hydraulic control of a hydraulic support according to claim 1, characterized in that: After the support executes the cylinder action in steps 2 to 7, the corresponding slave controller group sends support control information to the main controller (1). After the main controller (1) analyzes and processes the information, it sends action instructions to the designated slave controller group according to the flatness of the work surface support movement, controls the corresponding support action, and makes the work surface supports arranged neatly.

3. The method for automatic electro-hydraulic control of a hydraulic support according to claim 1, characterized in that: The main controller (1) controlling the coal cutting in steps 2 to 7 simultaneously monitors the action of each group of supports through the corresponding slave controller group. When it is monitored that the corresponding support action is not in place, the main controller (1) will send a re-execution action signal to the corresponding support controller.

4. The method for automatic electro-hydraulic control of a hydraulic support according to claim 1, characterized in that: When the hydraulic support automatic follow-up control program encounters a fault during execution, the sensor group of the corresponding support feeds back a fault signal to the main controller (1), and then the sound and light alarm device (43) gives a prompt, so that the staff in the control room can manually stop the follow-up program from continuing.

5. A control system implemented by the automatic electro-hydraulic control method for a hydraulic support according to any one of claims 1 to 4, comprising a main controller (1) arranged in a control room, characterized in that: It also includes a first slave controller group (11), a second slave controller group (12), a third slave controller group (13), a fourth slave controller group (14), and a fifth slave controller group (15) arranged at the end of the hydraulic support; The communication port of the master controller (1) is remotely connected to the first slave controller group (11), the second slave controller group (12), the third slave controller group (13), the fourth slave controller group (14), and the fifth slave controller group (15) respectively through a communication bus; The first slave controller group (11) is bidirectionally connected to the corresponding guard support retracting solenoid valves (21) via a driver, and is used to control the action of each guard support retracting support cylinder; The second slave controller group (12) is bidirectionally connected to the corresponding extension and protection bracket solenoid valves (22) through the driver, and is used to control the action of each extension and protection bracket oil cylinder; The third slave controller group (13) is bidirectionally connected to the corresponding rack moving solenoid valves (23) through the driver, and is used to control the action of each rack moving support cylinder; The fourth slave controller group (14) is bidirectionally connected to the corresponding push-slide solenoid valves (24) through the driver, and is used to control the action of the oil cylinders of each push-slide bracket; The fifth slave controller group (15) is bidirectionally connected to the corresponding spray solenoid valves (25) via a driver, and is used to control the action of the oil cylinder of each spray bracket; A corresponding sensor group and a time controller (31) are also provided on each of the retracting and extending guard brackets, the extending and extending guard brackets, the moving brackets, the pushing and sliding brackets, and the spraying brackets. The sensor group includes a stroke sensor (32), a pressure sensor (33), and a cylinder sensor (34). The communication port of the main controller (1) is remotely connected to the time controller (31), the stroke sensor (32), the pressure sensor (33), and the cylinder sensor (34) through a communication bus. The main controller (1) is also connected to a display screen (41), a keyboard (42), an audible and visual alarm device (43), a data storage module (44), and a data communication module (45) via wires.

6. The control system according to claim 5, characterized in that: The number of the first slave controller group (11), the second slave controller group (12), the third slave controller group (13), the fourth slave controller group (14), or the fifth slave controller group (15) is set to 100-200 according to the working surface requirements of the coal cutter.

7. The control system according to claim 6, characterized in that: The data communication module (45) is also connected to the monitoring server via a communication bus.

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