Support control method and device for fully mechanized coal mining face

Abstract

The application provides a control method and device for a support of a fully mechanized coal mining face, and the method comprises the following steps: obtaining operation data of a coal mining machine, a first position of the coal mining machine, state data of each support, and a second position of each support; matching the first position with each second position to determine a target support in the supports; determining a working condition of the fully mechanized coal mining face and a following-machine model corresponding to the working condition according to the state data of the target support; inputting the state data of the target support and the operation data of the coal mining machine into the following-machine model to obtain a first target following-machine strategy output by the following-machine model; and sending the first target following-machine strategy to a controller corresponding to the target support to control the target support to complete a following-machine action. Thus, in different working conditions, different following-machine models are adopted according to the operation data of the coal mining machine and the state data of the target support to determine corresponding following-machine strategies, the accuracy of the following-machine strategies is improved, and the reliability of the support control is improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of coal mines, and particularly relates to a control method and device for supports of a fully-mechanized coal mining face. BACKGROUND

[0002] In a fully-mechanized coal mining face, functions such as coal cutting by a coal mining machine, support by a support, and coal transportation by a scraper conveyor are controlled to realize efficient coal mining.

[0003] In the process of coal mining by the coal mining machine, the controller needs to timely control the support to perform a following-machine action to prevent coal mine accidents such as roof leakage and roof fall, and ensure normal coal mining. Therefore, how to improve the reliability of support control is a problem to be solved at present. SUMMARY

[0004] The present disclosure provides a control method and device for supports of a fully-mechanized coal mining face. The specific solutions are as follows.

[0005] An embodiment of the present disclosure provides a control method for supports of a fully-mechanized coal mining face, comprising:

[0006] obtaining running data of a coal mining machine in the fully-mechanized coal mining face, a first position of the coal mining machine, state data of each support, and a second position of each support;

[0007] matching the first position with each second position to determine a target support in the plurality of supports;

[0008] determining a working condition of the fully-mechanized coal mining face and a following-machine model corresponding to the working condition according to the state data of the target support;

[0009] inputting the state data of the target support and the running data of the coal mining machine into the following-machine model to obtain a first target following-machine strategy output by the following-machine model;

[0010] sending the first target following-machine strategy to a controller corresponding to the target support to control the target support to complete a following-machine action.

[0011] Another embodiment of the present disclosure provides a control device for supports of a fully-mechanized coal mining face, comprising:

[0012] an obtaining module configured to obtain running data of a coal mining machine in the fully-mechanized coal mining face, a first position of the coal mining machine, state data of each support, and a second position of each support;

[0013] a matching module configured to match the first position with each second position to determine a target support in the plurality of supports;

[0014] a determining module configured to determine a working condition of the fully-mechanized coal mining face and a following-machine model corresponding to the working condition according to the state data of the target support;

[0015] a prediction module, configured to input the state data of the target support and the operation data of the coal mining machine into the following machine model to obtain a first target following machine strategy output by the following machine model;

[0016] a sending module, configured to send the first target following machine strategy to a controller corresponding to the target support to control the target support to complete the following machine action.

[0017] Another aspect of the embodiments of the present disclosure provides a computer device, comprising a processor and a memory;

[0018] The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method of the above-mentioned embodiments.

[0019] Another aspect of the embodiments of the present disclosure provides a computer readable storage medium, which stores a computer program, and the program is executed by a processor to implement the method of the above-mentioned embodiments.

[0020] The additional aspects and advantages of the present disclosure will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0021] The above-mentioned and / or additional aspects and advantages of the present disclosure will become apparent and easily understood from the following description of the embodiments, combined with the accompanying drawings, in which:

[0022] Figure 1 A flowchart of a control method of a support of a fully mechanized coal mining face provided by an embodiment of the present disclosure;

[0023] Figure 2 A flowchart of a control method of a support of a fully mechanized coal mining face provided by an embodiment of the present disclosure;

[0024] Figure 3 A flowchart of a control method of a support of a fully mechanized coal mining face provided by an embodiment of the present disclosure;

[0025] Figure 4 A structural schematic diagram of a control device of a support of a fully mechanized coal mining face provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0026] The embodiments of the present disclosure are described in detail below, and examples of the embodiments are shown in the accompanying drawings, in which the same or similar notations represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the accompanying drawings are exemplary and are intended to explain the present disclosure, and cannot be understood as a limitation of the present disclosure.

[0027] In the present disclosure, under different working conditions of the fully mechanized working face, different following machine models are adopted according to the operation data of the coal mining machine and the state data of the target support, the corresponding following machine strategy is determined, and the accuracy of the following machine strategy is improved. Thus, the support is controlled based on the following machine strategy, and the reliability of the support control is improved.

[0028] The control method of the support of the fully mechanized working face of the embodiment of the present disclosure is described below with reference to the accompanying drawings.

[0029] Figure 1 A flowchart of the control method of the support of the fully mechanized working face provided by the embodiment of the present disclosure is provided.

[0030] The control method of the support of the fully mechanized working face of the embodiment of the present disclosure is executed by the control device of the support of the fully mechanized working face provided by the embodiment of the present disclosure (hereinafter referred to as the control device). The device can be configured in a computer device to realize the control of the support of the fully mechanized working face and improve the reliability of the support control.

[0031] As shown in Figure 1 , the control method of the support of the fully mechanized working face includes:

[0032] Step 101, obtaining the operation data of the coal mining machine in the fully mechanized working face, the first position of the coal mining machine, the state data of each support, and the second position of each support.

[0033] The operation data can include first timestamp, direction of travel, speed, height of the coal mining machine drum, and other information. The state data includes support identification, column pressure, support pressure, push and pull displacement, support height, support inclination, tail beam inclination, second timestamp, and period. The present disclosure does not limit this.

[0034] In the present disclosure, sensors for collecting various data can be installed on the coal mining machine and each support. The sensors collect the operation data of the coal mining machine, the first position of the coal mining machine, the state data of each support, and the second position of each support at a preset time interval, and send the above information to the control device. Thus, the control device can obtain the operation data of the coal mining machine, the first position of the coal mining machine, the state data of each support, and the second position of each support. In order to comprehensively consider various factors affecting the following machine strategy when determining the following machine strategy, the following machine strategy of the support is accurately determined, and the reliability of the support control is improved.

[0035] Step 102, matching the first position with each second position to determine the target support in the plurality of supports.

[0036] In the present disclosure, a large number of supports are arranged in the fully mechanized working face to support the coal mining machine to complete the mining of the whole working face. However, when the coal mining machine mines the coal seam at the current position, it will have a greater impact on the working conditions of the fully mechanized face within the preset range of the current position, and a smaller impact on the working conditions of the fully mechanized face outside the preset range of the current position. Therefore, only the supports within the preset range of the current position of the coal mining machine can be controlled to follow the machine to improve the efficiency of support control.

[0037] In the present disclosure, the first position can be matched with each second position, and when the distance between any second position and the first position is less than a threshold value, the support corresponding to the second position can be determined as the target support.

[0038] It can be understood that the target support can be one or more. In this way, not only the single support situation can be analyzed, but also the overall situation of the supports in the whole working face can be grasped, which is beneficial to improve the reliability of support control.

[0039] In step 103, the working conditions of the fully mechanized working face and the following machine model corresponding to the working conditions are determined according to the state data of the target support.

[0040] In the present disclosure, the working conditions of the working face can be determined according to the state data of the target support. For example, when the column pressure is greater than the corresponding preset threshold value, it is determined that the fully mechanized working face is in a pressure state. When the support plate pressure is less than the corresponding preset threshold value, it is determined that the fully mechanized working face is in a serious coal wall spalling state.

[0041] In the present disclosure, the working conditions of the fully mechanized working face are different, and the following machine strategy used is also different. For example, in the case of good working conditions, the supports can be moved backward. In the case of serious spalling, the column needs to be moved first to timely complete the support and prevent safety accidents such as roof leakage. If the following machine strategy is unreasonable, the following machine action may fail, thereby causing safety accidents such as roof leakage and roof fall. Therefore, different following machine models can be set for different working conditions to accurately determine the corresponding following machine strategy under different working conditions, thereby improving the accuracy of support control.

[0042] In the present disclosure, the following machine model corresponding to each working condition can be trained and obtained by using the running data of the coal mining machine and the state data of each support under each working condition. Specifically, a training data set corresponding to the working condition is obtained, wherein the training data set includes a plurality of training sample data and a labeled following machine strategy, the training sample data includes sample running data of the coal mining machine and sample state data of the target support, then the training sample data is input into an initial following machine model corresponding to the working condition to obtain a second target following machine strategy output by the initial following machine model, then a loss value is determined according to the difference between the second target following machine strategy and the corresponding labeled following machine strategy, and the initial following machine strategy is corrected according to the loss value until the following machine model corresponding to the working condition is obtained.

[0043] Step 104, input the state data of the target support and the operation data of the coal mining machine into the following machine model to obtain the first target following machine strategy output by the following machine model.

[0044] In the present disclosure, the state data of the target support and the operation data of the coal mining machine can be encoded according to the preset rules, and the encoding is input into the following machine model. Then, the following machine model can output the first target following machine strategy.

[0045] The following machine strategy includes information of a plurality of following machine actions performed by the supports in sequence.

[0046] Step 105, send the first target following machine strategy to the controller corresponding to the target support to control the target support to complete the following machine action.

[0047] In the present disclosure, each support corresponds to a controller, and the control device can send the first target following machine strategy to the controller corresponding to the target support. Then, the controller can control the target support to complete the following machine action according to the first target following machine strategy and the state data of the target support.

[0048] Optionally, the target following machine strategy and the third timestamp of the target following machine strategy can be stored in the system. When the equipment fails or other reasons cause the following machine strategy to fail to be sent, the target following machine strategy can be quickly obtained from the system, and the target following machine strategy is sent to the controller corresponding to the target support again, thereby improving the efficiency of support control.

[0049] Therefore, when the position of the coal mining machine changes, the control device can determine the corresponding first target following machine strategy in real time according to the first position of the coal mining machine, the operation data dynamic and the state data dynamic of the target support, and control the support to complete the corresponding following machine action according to the first target following machine strategy. Thus, the support and the coal mining machine are cooperatively advanced, and the efficient operation of the coal mining work is ensured.

[0050] In the present disclosure, after obtaining the operation data of the coal mining machine in the fully mechanized coal mining face, the first position of the coal mining machine, the state data of each support, and the second position of each support, the first position can be matched with each second position to determine a target support in the plurality of supports. Then, according to the state data of the target support, the working condition of the fully mechanized coal mining face and the following machine model corresponding to the working condition can be determined, and the state data of the target support and the operation data of the coal mining machine can be input into the following machine model to obtain the first target following machine strategy output by the following machine model. Then, the first target following machine strategy is sent to the controller corresponding to the target support to control the target support to complete the following machine action. Thus, under different working conditions, different following machine models are adopted according to the operation data of the coal mining machine and the state data of the target support to determine the corresponding following machine strategy, thereby improving the accuracy of the following machine strategy. Thus, the support is controlled based on the following machine strategy, thereby improving the reliability of the support control.

[0051] Figure 2 A flowchart of a control method of a support in a fully mechanized coal mining face is provided for the embodiments of the present disclosure.

[0052] As shown in Figure 2 , the control method of the support in the fully mechanized coal mining face comprises:

[0053] Step 201: obtaining the operation data of the coal mining machine in the fully mechanized coal mining face, the first position of the coal mining machine, the state data of each support, and the second position of each support.

[0054] Step 202: matching the first position with each second position to determine a target support in the plurality of supports.

[0055] Step 203: determining the working condition of the fully mechanized coal mining face and the following machine model corresponding to the working condition according to the state data of the target support.

[0056] Step 204: inputting the state data of the target support and the operation data of the coal mining machine into the following machine model to obtain the first target following machine strategy output by the following machine model.

[0057] Step 205: sending the first target following machine strategy to the controller corresponding to the target support to control the target support to complete the following machine action.

[0058] In the present disclosure, the specific implementation process of steps 201-205 can be referred to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0059] Step 206: updating the three-dimensional coal mining machine model corresponding to the coal mining machine and the three-dimensional support model corresponding to each support in the preset three-dimensional simulation interface according to the operation data of the coal mining machine, the first position of the coal mining machine, and the state data of each support and the second position of each support, respectively.

[0060] When a user needs to observe the running condition of the equipment in the fully mechanized working face, the user needs to go to the mine site to observe the condition of the equipment. Alternatively, the condition of the equipment is observed through the monitoring video of the fully mechanized working face. However, due to the poor environment condition in the mine, the monitoring video is not clear, or data is lost in the transmission process of the monitoring video, which leads to the inability to accurately judge the condition of each device.

[0061] In the present disclosure, a three-dimensional simulation model corresponding to the fully mechanized working face can be set in the system, wherein the three-dimensional simulation model comprises a three-dimensional shearer model corresponding to a shearer and a three-dimensional support model corresponding to each support. The three-dimensional shearer model corresponding to the shearer and the three-dimensional support model corresponding to each support are displayed in the three-dimensional simulation interface.

[0062] When the running data of the shearer is acquired, the three-dimensional shearer model corresponding to the shearer in the three-dimensional simulation interface can be updated in real time according to the running data of the shearer. The position of the three-dimensional shearer model in the three-dimensional simulation model is updated according to the first position of the shearer. When the state data of each support is acquired, the three-dimensional support model of the corresponding support in the three-dimensional simulation interface can be updated in real time according to the state data of each support. Thus, through three-dimensional simulation, the shearer and the support are comprehensively and intuitively monitored according to the running data of the shearer and the state data of each support. The convenience and accuracy of monitoring the fully mechanized working face are improved.

[0063] In the present disclosure, the control device and the three-dimensional simulation model corresponding to the fully mechanized working face can be deployed in the same device or different devices, and the present disclosure does not limit this.

[0064] The control device can send the acquired running data of the shearer in the fully mechanized working face, the first position of the shearer, the state data of each support, and the second position of each support to the three-dimensional simulation model, so as to realize the monitoring of the fully mechanized working face.

[0065] Optionally, the three-dimensional simulation model corresponding to the fully mechanized coal mining face can include a following model for determining the following strategy under various working conditions, and a mechanism model of the fully mechanized coal mining face. The three-dimensional simulation model can determine the first target following strategy by using the following model under various working conditions. Then, the target support in the three-dimensional simulation model can be driven to complete the corresponding following action according to the first target following strategy, and the mechanism model is used to judge the result after the support executes each following action. When the result does not match the expected result, the first target following strategy can be adjusted according to the preset adjustment rule or the following strategy adjusted by the user in the obtained adjustment control, until the first target following strategy that meets the expected result is obtained. Then, the three-dimensional simulation model can send the finally obtained first target following strategy to the control device to control the target support to complete the corresponding following action. Therefore, the first target following strategy is practiced by the three-dimensional simulation model, and the first target following strategy is further adjusted according to the result of executing the following strategy, so that the accuracy of support control is further improved.

[0066] In the present disclosure, different following models are used to determine the corresponding following strategy according to the running data of the coal mining machine and the state data of the target support under different working conditions, so that the accuracy of the following strategy is improved. Therefore, the support is controlled based on the following strategy, and the reliability of the support control is improved.

[0067] Figure 3 A flowchart of a control method of a support of a fully mechanized coal mining face is provided for the embodiments of the present disclosure.

[0068] As shown in the flowchart, the control method of the support of the fully mechanized coal mining face includes the following steps. Figure 3

[0069] Step 301: Obtain the running data of the coal mining machine in the fully mechanized coal mining face, the first position of the coal mining machine, the state data of each support, and the second position of each support.

[0070] Step 302: Match the first position with each second position to determine a target support in the plurality of supports.

[0071] Step 303: Determine the working condition of the fully mechanized coal mining face and the following model corresponding to the working condition according to the state data of the target support.

[0072] Step 304: Input the state data of the target support and the running data of the coal mining machine into the following model to obtain the first target following strategy output by the following model.

[0073] Step 305: Send the first target following strategy to the controller corresponding to the target support to control the target support to complete the following action.

[0074] ​At step 306, the three-dimensional shearer model corresponding to the shearer and the three-dimensional support model corresponding to each support in the preset three-dimensional simulation interface are updated according to the operation data of the shearer, the first position of the shearer, and the state data of each support and the second position of each support, respectively.

[0075] In the present disclosure, the specific implementation process of steps 301-306 can be referred to the detailed description of any embodiment of the present disclosure, which will not be repeated here.

[0076] At step 307, the operation data, the first position, and any state data are stored in the database in association in the case that the first timestamp in the operation data is the same as the second timestamp in any state data.

[0077] In the present disclosure, when the first timestamp in the operation data is the same as the second timestamp in any state data, it indicates that the state data is the state data of the shearer performing the following action in the case of the operation data. Therefore, there is an association relationship between the state data, the first position of the shearer, and the operation data.

[0078] Optionally, in the case that the first timestamp in the operation data is the same as the second timestamp in any state data, the first timestamp can be stored in the database in association with the operation data, the first position of the shearer, and any state data as a primary key. In order to reproduce the following action of the support. In order to facilitate the research of relevant researchers on the following strategy.

[0079] At step 308, in response to monitoring that the first control in the three-dimensional simulation interface is triggered, the target time interval in the filtering control in the three-dimensional simulation interface is obtained.

[0080] The first control is a control for triggering the history reproduction of the following action.

[0081] In the present disclosure, the user can input the target time interval in the filtering control in the three-dimensional simulation interface, and then trigger the first control by clicking. When the system monitors that the first control in the three-dimensional simulation interface is triggered, the target time interval in the filtering control can be obtained.

[0082] At step 309, the operation data, the first position, and the state data in the target time interval are obtained from the database.

[0083] In the present disclosure, the operation data and the state data stored in the database are filtered according to the target time interval, and the operation data and the state data in the target time interval are obtained.

[0084] In step 310, according to the order of the first timestamp corresponding to each running data in the target time interval, the three-dimensional shearer model and the three-dimensional support model corresponding to the support in the three-dimensional simulation interface are updated in sequence according to each running data, the first position and the state data in the target time interval.

[0085] In the present disclosure, according to the order of the first timestamp corresponding to each running data in the target time interval, the three-dimensional shearer model is updated in sequence by using the running data and the first position, and the three-dimensional support model corresponding to the support in the three-dimensional simulation interface is updated in sequence by using the state data. Meanwhile, the results after the support performs each following action can also be simulated in the three-dimensional simulation interface. Thus, the following action of the support is reproduced, so as to facilitate the research on the following strategy by the relevant researchers.

[0086] In the present disclosure, under different working conditions, different following models are adopted according to the running data of the shearer and the state data of the target support, the corresponding following strategy is determined, and the accuracy of the following strategy is improved. Thus, the support is controlled based on the following strategy, and the reliability of the support control is improved.

[0087] In order to realize the above-mentioned embodiments, the present disclosure further provides a control device of a support of a fully-mechanized coal mining face. Figure 4 A structural schematic diagram of a control device of a support of a fully-mechanized coal mining face provided by the present disclosure is shown.

[0088] As shown in Figure 4 The control device 400 of the support of the fully-mechanized coal mining face includes:

[0089] The acquisition module 410 is configured to acquire the running data of the shearer in the fully-mechanized coal mining face, the first position of the shearer, the state data of each support, and the second position of each support.

[0090] The matching module 420 is configured to match the first position with each second position, and determine a target support in the plurality of supports.

[0091] The determination module 430 is configured to determine the working condition of the fully-mechanized coal mining face and the following model corresponding to the working condition according to the state data of the target support.

[0092] The prediction module 440 is configured to input the state data of the target support and the running data of the shearer into the following model, so as to obtain the first target following strategy output by the following model.

[0093] The sending module 450 is configured to send the first target following strategy to a controller corresponding to the target support, so as to control the target support to complete the following action.

[0094] In a possible implementation of the embodiment of the present disclosure, the running data includes a first timestamp, a travel direction, and a speed, and the state data includes a support identification, a column pressure, a guard pressure, a push displacement, a support height, a support inclination, a tail beam inclination, a second timestamp, and a period.

[0095] In a possible implementation of the embodiment of the present disclosure, the following steps can be used to obtain the following steps:

[0096] Obtain training data sets corresponding to the working conditions, wherein the training data sets include a plurality of training sample data and labeled following-machine strategies, the training sample data include sample running data of the coal mining machine and sample state data of the target support;

[0097] Input the training sample data into the initial following-machine model corresponding to the working conditions to obtain a second target following-machine strategy output by the initial following-machine model;

[0098] Determine a loss value according to a difference between the second target following-machine strategy and the corresponding labeled following-machine strategy;

[0099] Correct the initial following-machine strategy according to the loss value until the following-machine model corresponding to the working conditions is obtained.

[0100] In a possible implementation of the embodiment of the present disclosure, the following are further included:

[0101] The update module is configured to update a three-dimensional coal mining machine model corresponding to the coal mining machine and a three-dimensional support model corresponding to each support in the preset three-dimensional simulation interface according to the running data of the coal mining machine, the first position of the coal mining machine, and the state data of each support and the second position of each support, respectively.

[0102] In a possible implementation of the embodiment of the present disclosure, the update module is further configured to:

[0103] In a case where the first timestamp in the running data is the same as the second timestamp in any state data, the running data, the first position, and any state data are stored in the database in association;

[0104] In response to monitoring that the first control in the three-dimensional simulation interface is triggered, obtain a target time interval in the filtering control in the three-dimensional simulation interface;

[0105] Obtain the running data, the first position, and the state data in the target time interval from the database;

[0106] According to an order of the first timestamp corresponding to each running data in the target time interval, update the three-dimensional coal mining machine model and the three-dimensional support model of the corresponding support in the three-dimensional simulation interface according to each running data, the first position, and the state data in the target time interval, respectively and sequentially.

[0107] In a possible implementation of the embodiment of the present disclosure, the method further includes:

[0108] The storage module is configured to store the first target following strategy and a third timestamp of sending the first target following strategy in the system.

[0109] It should be noted that the above explanation and description of the control method of the support of the fully mechanized coal mining face also applies to the control device of the support of the fully mechanized coal mining face, and thus will not be described here again.

[0110] In the present disclosure, after obtaining the running data of the coal mining machine, the first position of the coal mining machine, the state data of each support, and the second position of each support, the first position can be matched with each second position to determine a target support in the plurality of supports. Then, the working condition of the fully mechanized coal mining face and the following machine model corresponding to the working condition can be determined according to the state data of the target support, and the state data of the target support and the running data of the coal mining machine can be input into the following machine model to obtain the first target following strategy output by the following machine model. Then, the first target following strategy is sent to the controller corresponding to the target support to control the target support to complete the following action. Thus, in different working conditions, different following machine models are used to determine the corresponding following strategy according to the running data of the coal mining machine and the state data of the target support, which improves the accuracy of the following strategy. Thus, the support is controlled based on the following strategy, which improves the reliability of the support control.

[0111] To implement the above-mentioned embodiments, the present disclosure further provides a computer device including a processor and a memory;

[0112] The processor runs a program corresponding to an executable program code stored in the memory by reading the executable program code, so as to implement the control method of the support of the fully mechanized coal mining face as described in the above-mentioned embodiments.

[0113] To implement the above-mentioned embodiments, the present disclosure further provides a computer readable storage medium having a computer program stored thereon, which is executed by a processor to implement the control method of the support of the fully mechanized coal mining face as described in the above-mentioned embodiments.

[0114] Although the embodiments of the present disclosure have been shown and described above, it should be understood that the above-mentioned embodiments are exemplary and cannot be understood as limiting the present disclosure, and those of ordinary skill in the art can make changes, modifications, replacements and variations to the above-mentioned embodiments within the scope of the present disclosure.

Claims

1. A control method for a fully mechanized mining face support, characterized in that, include: The operation data of the coal mining machine in the fully mechanized mining face, the first position of the coal mining machine, the status data of each support, and the second position of each support are obtained. The operation data includes a first timestamp, travel direction, and speed. The status data includes support identification, column pressure, side protection pressure, pusher displacement, support height, support inclination angle, tail beam inclination angle, second timestamp, and cycle. The first position is matched with each of the second positions to determine the target support among the plurality of supports; Based on the status data of the target support, determine the working condition of the fully mechanized mining face and the corresponding machine-following model; The status data of the target support and the operating data of the coal mining machine are input into the following model to obtain the first target following strategy output by the following model; The first target following strategy is sent to the controller corresponding to the target support to control the target support to complete the following action. Also includes: Based on the operating data of the coal mining machine, the first position of the coal mining machine, the status data of each support, and the second position of each support, the three-dimensional coal mining machine model corresponding to the coal mining machine and the three-dimensional support model corresponding to each support in the preset three-dimensional simulation interface are updated respectively.

2. The method as described in claim 1, characterized in that, The following steps are used to obtain the following model: Obtain the training dataset corresponding to the working condition, wherein the training dataset includes multiple training sample data and labeled follow-up strategies, and the training sample data includes sample operation data of the coal mining machine and sample status data of the target support; The training sample data is input into the initial follow-up model corresponding to the working condition to obtain the second target follow-up strategy output by the initial follow-up model. The loss value is determined based on the difference between the second target following strategy and the corresponding labeled following strategy; The initial follow-up strategy is modified based on the loss value until the follow-up model corresponding to the operating condition is obtained.

3. The method as described in claim 1, characterized in that, Also includes: If the first timestamp in the running data is the same as the second timestamp in any state data, the running data, the first position, and the any state data are associated and stored in the database. In response to the detection that the first control in the 3D simulation interface is triggered, the target time interval in the filter control of the 3D simulation interface is obtained; Retrieve the running data, first position, and status data within the target time interval from the database; Based on the order of the first timestamps corresponding to each running data within the target time interval, the three-dimensional coal mining machine model and the corresponding three-dimensional support model in the three-dimensional simulation interface are updated sequentially according to each running data, first position, and status data within the target time interval.

4. The method as described in claim 1, characterized in that, Also includes: The first target following strategy and the third timestamp for sending the first target following strategy are associated and stored in the system.

5. A control device for a fully mechanized mining face support, characterized in that, include: The acquisition module is used to acquire the operating data of the coal mining machine in the fully mechanized mining face, the first position of the coal mining machine, the status data of each support, and the second position of each support. The operating data includes a first timestamp, travel direction, and speed. The status data includes support identification, column pressure, side protection pressure, pusher displacement, support height, support inclination angle, tail beam inclination angle, second timestamp, and cycle. A matching module is used to match the first position with each of the second positions to determine a target support among the plurality of supports; The determination module is used to determine the working condition of the fully mechanized mining face and the corresponding machine-following model based on the status data of the target support. The prediction module is used to input the status data of the target support and the operating data of the coal mining machine into the following model to obtain the first target following strategy output by the following model; The sending module is used to send the first target following strategy to the controller corresponding to the target bracket, so as to control the target bracket to complete the following action; The device is further configured to update the three-dimensional coal mining machine model corresponding to the coal mining machine and the three-dimensional support model corresponding to each support in the preset three-dimensional simulation interface based on the operating data of the coal mining machine, the first position of the coal mining machine, the status data of each support, and the second position of each support.

6. The apparatus as claimed in claim 5, characterized in that, The following steps are used to obtain the following model: Obtain the training dataset corresponding to the working condition, wherein the training dataset includes multiple training sample data and labeled follow-up strategies, and the training sample data includes sample operation data of the coal mining machine and sample status data of the target support; The training sample data is input into the initial follow-up model corresponding to the working condition to obtain the second target follow-up strategy output by the initial follow-up model. The loss value is determined based on the difference between the second target following strategy and the corresponding labeled following strategy; The initial follow-up strategy is modified based on the loss value until the follow-up model corresponding to the operating condition is obtained.

7. A computer device, characterized in that, Including processor and memory; The processor reads executable program code stored in the memory to run a program corresponding to the executable program code, so as to implement the method as described in any one of claims 1-4.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by the processor, it implements the method as described in any one of claims 1-4.

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