Filling support following control method and device

Abstract

The invention relates to a filling support following control method and device. The method comprises the steps that geological environment parameters of a fully mechanized coal mining face are obtained; determining a machine following control model of the filling support according to the geological environment parameters and performance matching of the coal mining equipment; and determining a control strategy output by the machine following control model according to the sum of the liquid supply flows required by various actions of the filling bracket, and regulating and controlling the machine following action of the filling bracket and the filling operation action of the isolation part at the rear part of the filling bracket in real time according to the control strategy. According to the filling support machine following control method and device, the adaptability of filling support machine following automation in the changeable fully mechanized coal mining face environment is greatly improved, the requirements of high-speed cutting of coal mining equipment and rapid pushing of the filling support can be met, and wide applicability is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of coal mining, and in particular to a filling support following machine control method and device. Background Art

[0002] With the development of intelligent coal mining technology, the automation level of fully mechanized mining faces has been significantly improved. However, in the filling operation, the moving and following operations of the filling support are still mainly manual operations, which have the disadvantages of high work intensity and low mining efficiency. The main problem is that the automation procedures, processes and parameters of the filling support following the machine are static and relatively simple, which makes it difficult to adapt to the changing working face environment, equipment and supporting hydraulic system requirements, and it is difficult to meet the requirements of high-speed cutting of coal mining equipment and rapid movement of filling supports.

[0003] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present application and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because they are described in the background technology section of the present application. Summary of the invention

[0004] The purpose of the present application is to provide a filling support following machine control method and device to solve the problems that the filling support following machine automation procedures, processes and parameters in the prior art are static and relatively single, which are difficult to adapt to the changing working face environment, equipment and supporting hydraulic system requirements, and difficult to meet the requirements of high-speed cutting of coal mining equipment and rapid movement of filling supports.

[0005] In order to solve the above problems, a filling stent following machine control method involved in this application adopts the following technical solutions: Obtain geological environment parameters of fully mechanized mining working face; According to the geological environment parameters and the performance matching of the coal mining equipment, a follow-up control model of the filling support is determined; According to the total liquid supply flow required for various actions of the filling bracket, the control strategy output by the following control model is determined, and according to the control strategy, the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket are regulated in real time.

[0006] In order to solve the above problems, the present application relates to a filling stent following machine control device, comprising: A first acquisition module, the first acquisition module is used to obtain geological environment parameters of the fully mechanized mining working face; A second acquisition module, the second acquisition module is used to determine a machine control model of the filling support according to the geological environment parameters and the performance matching of the coal mining equipment; A control module is used to determine the control strategy output by the following control model according to the total liquid supply flow required for various actions of the filling bracket, and according to the control strategy, to regulate the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket in real time.

[0007] In order to solve the above problems, the present application involves an electronic device, including: a processor; a memory for storing executable instructions of the processor; wherein the processor is configured to execute the instructions to implement the filling bracket tracking control method involved in the present application.

[0008] In order to solve the above problems, the present application involves a non-temporary computer-readable storage medium. When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device can execute the filling bracket tracking control method involved in the present application.

[0009] In order to solve the above-mentioned problem, the present application involves a computer program product, including a computer program, which implements the filling bracket tracking control method involved in the present application when executed by a processor in a communication device.

[0010] The beneficial effects of this application are as follows: Through the performance matching between geological environment parameters and coal mining equipment, the following machine control model of the filling support is obtained, and the control strategy is generated by the following machine control model. The following machine action and the filling operation of the rear isolation part are regulated based on the control strategy. The adaptability of the following machine automation of the filling support in the changeable fully mechanized mining working face environment is greatly improved, and it can meet the requirements of high-speed cutting of coal mining equipment and rapid movement of the filling support.

[0011] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the technical solution of the embodiment of the present application, the following is a brief introduction to the drawings required for use in the embodiment: Figure 1 A schematic flow chart of a filling stent following machine control method provided in an embodiment of the present application; Figure 2 A schematic flow chart of another filling stent following machine control method provided in an embodiment of the present application; Figure 3 A structural schematic diagram of a filling support and machine control device provided in an embodiment of the present application; Figure 4 A schematic diagram of the working of the filling support and machine control device provided according to an embodiment of the present application; Figure 5 A schematic diagram of the structure of an electronic device provided according to an embodiment of the present application; Figure 6 It is a schematic diagram of the structure of another electronic device provided according to an embodiment of the present application. DETAILED DESCRIPTION

[0013] In order to make the technical purpose, technical solution and beneficial effects of the present application clearer, the technical solution of the present application is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings can be arranged and designed in various different configurations.

[0014] The following describes a filling stent following machine control method and device according to an embodiment of the present application with reference to the accompanying drawings.

[0015] Figure 1 A schematic diagram of a filling stent following machine control method provided in an embodiment of the present application. Figure 1 As shown, the method includes but is not limited to the following steps: S101, obtaining geological environment parameters of the fully mechanized mining working face.

[0016] In a feasible implementation, the geological environment parameters of the fully mechanized mining face are crucial information in coal mining, which directly affects the safety, efficiency and cost of mining. The geological environment parameters include coal seam parameters, roof and floor conditions, geological structure, hydrogeological conditions, gas content and coal dust explosion. Among them: Coal seam parameters include coal seam thickness, coal seam inclination (different working faces have different coal seam inclinations) and coal seam structure (for example, the coal seam may contain interlayers, and the number, thickness and rock properties of the interlayers have a certain impact on mining. For the coal seam at the working face containing 1-3 layers of interlayers, the rock types are mostly mudstone or carbonate lenses).

[0017] The roof and floor conditions include the immediate roof (mostly sandstone or mudstone, with large variations in thickness), the old roof (mostly siltstone or sandstone, with stable thickness), and the immediate floor (mostly bauxite mudstone or mudstone, with certain variations in thickness).

[0018] The geological structure includes faults (faults of varying sizes may develop in the comprehensive mining working face, and the strike, dip, inclination and drop of the faults have an important impact on mining. Secondary small and medium-sized faults near the faults may be extremely developed, increasing the difficulty of mining) and folds (the coal seam may present a monocline structure or a fold structure, and the axis, wing and turning end of the fold have different degrees of influence on mining).

[0019] Hydrogeological conditions include aquifers (the fully-mechanized mining face may be affected by different aquifers, such as the Quaternary porous aquifer, sandstone aquifer, limestone aquifer, etc. The water-richness, water level elevation and relative position relationship with the coal seam of the aquifer are crucial to mining safety) and water inflow (the fully-mechanized mining face may be affected by different aquifers, such as the Quaternary porous aquifer, sandstone aquifer, limestone aquifer, etc. The water-richness, water level elevation and relative position relationship with the coal seam of the aquifer are crucial to mining safety).

[0020] Gas content has an important impact on mining safety, and gas monitoring and ventilation management need to be strengthened. The explosiveness of coal dust is also one of the factors that need to be considered, and corresponding dust and explosion prevention measures need to be taken.

[0021] Furthermore, according to the coal mining process, the support plates of the coal wall support are retracted in front of the coal mining equipment to facilitate the coal cutting of the coal mining equipment. The filling support should be moved in time behind the coal mining equipment to support the suspended roof and coal wall after coal cutting, and then the control operation of the push-scraper conveyor is carried out to load the fallen coal blocks onto the scraper conveyor, and at the same time prepare for the next coal cutting. During the coal mining process, the safety of the working environment should be guaranteed at all times. Therefore, it is necessary to conduct an in-depth analysis of the geological parameters of the comprehensive mining working face. Based on the results of the in-depth analysis, it is ensured that the filling support automatically migrates with the coal mining equipment, and that the coal mining equipment and the filling support do not interfere with each other, and the scraper conveyor maintains a good operating posture (i.e., ensures its straightness). The filling support effectively manages the roof and coal wall of the comprehensive mining working face to ensure that the support strength reaches the initial support force required by the geological environment parameters.

[0022] S102, determining a machine control model of the filling support according to the geological environment parameters and the performance matching of the coal mining equipment.

[0023] In a feasible implementation method, geological environmental parameters have a crucial impact on the selection, layout and control strategy of the filling support. Among them, the thickness of the coal seam determines the working height and support strength requirements of the filling support; the inclination of the coal seam affects the stability of the support, so it is necessary to design corresponding anti-collapse and anti-slip measures for the filling support; the rock properties, strength, stability, etc. of the top and bottom plates directly affect the support effect and safety of the support; geological structures such as faults and folds will increase the difficulty of coal mining and filling operations, and the control strategy of the support needs to be adjusted to adapt to complex geological conditions.

[0024] The performance matching between the filling support and the coal mining equipment is the key to ensure efficient and safe operation. This includes: the cutting capacity and traction speed of the coal mining equipment determine the following speed and operation efficiency between filling; the conveying capacity and stability of the scraper conveyor need to match the filling speed of the filling support to ensure the continuity and efficiency of the filling operation; the hydraulic system that maintains the various actions of the filling support, its supply pressure, flow and other requirements should ensure that the filling support can accurately and quickly complete various actions.

[0025] Furthermore, based on the analysis of the matching of geological environmental parameters and coal mining equipment performance, the sensor layout of coal mining equipment, filling support and key parts is determined (usually including displacement sensors, pressure sensors, alarm sensors, drive sensors, infrared receiving sensors, inclination sensors, geological and hydrological sensors, etc., and the data collected by these sensors can provide a basis for the following action of the filling support). According to the sensor layout, the equipment status, geological condition changes and other information are monitored in real time. The data collected by the sensor is transmitted to the control system of the coal mining equipment for real-time processing and analysis to determine the changes in geological conditions and the operating status of the coal mining equipment. According to the results of data processing, combined with the preset control algorithm and rules, the following control strategy of the filling support is formulated. The strategy can adjust the following speed and action mode of the filling support in real time to adapt to the changes in geological conditions and the performance requirements of the coal mining equipment. According to the control strategy, the following action of the filling support and the filling operation action are controlled in real time through the hydraulic system. The control includes adjusting the support height, support strength, filling speed and other parameters of the filling support to ensure the safety and efficiency of the filling operation.

[0026] Furthermore, according to the sensor arrangement, data processing and analysis, control algorithms and rules, and implementation regulation strategies, the system flow of the machine control of the filling stent is sorted out, and then according to the system flow, the machine control model of the filling stent is determined.

[0027] S103, according to the total liquid supply flow required for various actions of the filling bracket, determine the control strategy of the follow-up control model output, and according to the control strategy, adjust the follow-up action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket in real time.

[0028] In a feasible implementation, in order to determine the control strategy output by the following control model of the filling bracket, and to regulate its following action and the filling operation of the rear isolation part in real time, the total liquid supply flow rate required by the filling bracket when performing various actions (such as lifting, pushing, rotating, etc.) should first be clarified. These flow data are usually obtained based on the technical specifications and experimental data of the equipment. The following control model is based on the above-mentioned total liquid supply flow rate, and according to the real-time operation situation, it dynamically adjusts the liquid supply flow rate to meet the needs of different actions; and when multiple actions need to be performed at the same time, the liquid supply resources are allocated according to the operation priority; and during the operation, the status of the liquid supply system is monitored in real time to predict and warn of possible failures or insufficient flow. Furthermore, by integrating information such as dynamic adjustment of liquid supply flow rate, priority sorting, and fault warning, the control system generates a corresponding control strategy based on the following control model.

[0029] According to the control strategy, sensors in coal mining equipment, filling supports and key parts monitor parameters such as flow and pressure in real time, and feed the parameters back to the control system. The control system uses a control algorithm (for example, the control algorithm may include a PID control algorithm, fuzzy control, machine learning, etc.) to process the parameters, calculate and generate corresponding control signals. The control model adjusts the liquid supply flow through an actuator (for example, the actuator may include a solenoid valve, a hydraulic pump, etc.), thereby achieving precise control of the following action of the filling support and the filling operation action of the rear isolation part of the filling support.

[0030] It should be added that safety and stability factors should also be considered when designing and implementing control strategies. As an example, an overload protection mechanism can be set to prevent damage to the equipment due to excessive fluid flow; a fault switching mechanism can also be set, for example, when a failure occurs in the coal mining equipment, filling support, sensors in key parts, etc., the backup system should be automatically switched or other emergency measures should be taken; before coal mining operations, sufficient stability tests can be carried out on site at the fully mechanized mining face, and after ensuring that the control strategies can operate effectively under various working conditions, coal mining operations can be carried out. At the same time, based on the actual operation results and the feedback received by the control system, the control strategy is continuously optimized, including collecting and analyzing operation data, identifying potential problems and improvement points; and adjusting the control algorithm parameters or algorithm structure based on the data analysis results.

[0031] In summary, the filling support follow-up control method provided in the embodiment of the present application obtains the filling support follow-up control model through the performance matching between geological environment parameters and coal mining equipment, generates a control strategy from the follow-up control model, and implements the control strategy to regulate the follow-up action and the filling operation of the rear isolation part. The adaptability of the filling support follow-up automation in the changeable comprehensive mining working face environment is greatly improved, and the requirements of high-speed cutting of coal mining equipment and rapid movement of the filling support can be met.

[0032] Figure 2 This is a flow chart of another filling stent following machine control method provided in an embodiment of the present application. Figure 2 As shown, the method includes but is not limited to the following steps: S201, obtaining real-time geological information parameters.

[0033] Optionally, as an example, the geological structure distribution and morphological characteristics of the fully-mechanized mining face can be obtained based on geophysical exploration operations, and then the real-time geological information parameters can be obtained based on the measurement of the geological structure distribution and morphological characteristics. The spectral characteristic information of the surface minerals of the fully-mechanized mining face can also be obtained by remote sensing satellites, and then the real-time geological information parameters can be obtained based on the analysis and processing of the spectral characteristic information. UAVs and ground monitoring equipment can also be used to quickly monitor and collect data on the fully-mechanized mining face in a short time to obtain comprehensive and real-time geological information parameters of the fully-mechanized mining face.

[0034] For further details of step S201, please refer to the relevant contents in the above embodiment, which will not be repeated here.

[0035] S202, obtaining geological environment parameters of the fully mechanized mining working face based on fitting the real-time geological information parameters of the historical geological information parameters of the fully mechanized mining working face.

[0036] Optionally, as an example, a first knowledge graph of historical geological information parameters is obtained, wherein the historical geological information parameters of the comprehensive mining face can be obtained from the historical geological survey report; the historical geological information parameters of the comprehensive mining face can also be obtained from geological exploration data, mineral resource exploration data, geological disaster monitoring data and other aspects. The method of obtaining the historical geological information parameters of the comprehensive mining face should be selected according to the specific usage scenario. Furthermore, data cleaning operations and data standardization operations are performed on the historical geological information parameters to obtain the first intermediate data; then, according to the parameter range of the knowledge graph as needed, a relationship extraction operation is performed on the first intermediate data to obtain the first knowledge graph of the historical geological information parameters.

[0037] Optionally, as an example, after obtaining the first knowledge graph of historical geological information parameters, the real-time geological information parameters are standardized according to the first knowledge graph to determine the correlation between the historical geological information parameters and the real-time geological information parameters.

[0038] Optionally, as an example, based on the degree of association, the first knowledge graph is updated by the real-time geological information parameters to obtain the geological environment parameters of the fully-mechanized mining face. Further, according to the update operation of the first knowledge graph by the real-time geological information parameters, the second knowledge graph is obtained; according to the time series analysis operation of the real-time geological information parameters by the second knowledge graph, the change trend of the real-time geological information parameters over time is obtained; according to the relationship network in the second knowledge graph, the geological environment parameters of the fully-mechanized mining face are obtained from the change trend.

[0039] For further details of step S202, please refer to the relevant contents in the above embodiment, which will not be repeated here.

[0040] S203, determining a machine control model of the filling support according to the geological environment parameters and the performance matching of the coal mining equipment.

[0041] Optionally, as an example, the geological stability parameters, coal seam occurrence parameters and risk impact parameters of the fully mechanized mining face are obtained from the geological environment parameters. Then, based on the geological stability parameters, coal seam occurrence parameters and risk impact parameters, the performance analysis of the coal mining equipment is performed to obtain the configuration parameters of the filling support. Next, according to the configuration parameters, the control system and data perception network corresponding to the filling support are determined. Finally, according to the connection relationship between the control system and the data perception network, the machine control model of the filling support is determined. Furthermore, according to the connection relationship between the control system and the data perception network, the data interaction mode and the control instruction issuance mode can be determined; then, according to the data interaction mode and the control instruction issuance mode, the machine control model of the filling support is determined.

[0042] For further details of step S203, please refer to the relevant contents in the above embodiment, which will not be repeated here.

[0043] S204, according to the total liquid supply flow required for various actions of the filling bracket, determine the control strategy of the follow-up control model output, and according to the control strategy, adjust the follow-up action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket in real time.

[0044] Optionally, as an example, first obtain the actions required by the filling bracket when performing different tasks. Then determine the fluid flow required to complete the action based on the specifications of the actuator of the hydraulic system. Then summarize the fluid flow required for all actions to obtain the sum of the fluid flow required for various actions of the filling bracket under the corresponding working state. Then, based on the sum of the fluid flow, determine the application control algorithm, and determine the control strategy for the output of the machine control model based on the application control algorithm.

[0045] After obtaining the control strategy output by the following control model, the priority of the filling bracket action should be obtained based on the control strategy; according to the priority, the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket are regulated.

[0046] For further details of step S204, please refer to the relevant contents in the above embodiment, which will not be repeated here.

[0047] In summary, the filling support follow-up control method provided in the embodiment of the present application obtains the filling support follow-up control model through the performance matching between geological environment parameters and coal mining equipment, generates a control strategy from the follow-up control model, and implements the control strategy to regulate the follow-up action and the filling operation of the rear isolation part. The adaptability of the filling support follow-up automation in the changeable comprehensive mining working face environment is greatly improved, and the requirements of high-speed cutting of coal mining equipment and rapid movement of the filling support can be met.

[0048] Figure 3 This is a schematic diagram of the structure of a filling support and machine control device provided in an embodiment of the present application. Figure 3 As shown, the filling support follower control device 300 includes: The first acquisition module 301 is used to acquire geological environment parameters of the fully mechanized mining working face; A second acquisition module 302, the second acquisition module 302 is used to determine a machine control model of the filling support according to the geological environment parameters and the performance matching of the coal mining equipment; Control module 303, control module 303 is used to determine the control strategy of the following control model output according to the total liquid supply flow required for various actions of the filling bracket, and according to the control strategy, to adjust the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket in real time.

[0049] As an example, Figure 4 Schematic diagram of the working of the filling support and machine control device provided in the embodiment of the present application. Figure 4 As shown, the filling support follow-up control device 300 is connected with the coal mining equipment and the filling support. The filling support follow-up control device 300 first obtains the geological environment parameters of the fully mechanized mining face through the sensing network; then determines the follow-up control model of the filling support according to the geological environment parameters and the performance matching of the coal mining equipment; then determines the control strategy of the follow-up control model according to the sum of the liquid supply flow required by various actions of the filling support, and implements the control strategy to regulate the follow-up action of the filling support for the coal mining equipment, and responds to the filling operation action of the rear isolation part of the filling support in a timely manner, thereby ensuring the adaptability of the filling support follow-up automation in the variable fully mechanized mining face environment, and meeting the requirements of high-speed cutting of coal mining equipment and rapid movement of the filling support.

[0050] Figure 5 The present invention is a schematic diagram of the structure of an electronic device provided according to an embodiment of the present application. Figure 5 The electronic device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0051] like Figure 5 As shown, the electronic device 500 includes a processor 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a memory 506 to a random access memory (RAM) 503. Various programs and data required for the operation of the electronic device 500 are also stored in the RAM 503. The processor 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0052] The following components are connected to the I / O interface 505: a memory 506 including a hard disk, etc.; and a communication part 507 including a network interface card such as a LAN (Local Area Network) card, a modem, etc., and the communication part 507 performs communication processing via a network such as the Internet; a drive 508 is also connected to the I / O interface 505 as needed.

[0053] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 507. When the computer program is executed by the processor 501, the above-mentioned functions defined in the method of the present application are executed.

[0054] In an exemplary embodiment, a storage medium including instructions is also provided, such as a memory including instructions, and the instructions can be executed by the processor 501 of the electronic device 500 to complete the above method. Optionally, the storage medium can be a non-transitory computer-readable storage medium, for example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0055] In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, apparatus, or device. In the present application, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in combination with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0056] Figure 6 It is a schematic diagram of the structure of another electronic device provided according to an embodiment of the present application. Figure 6 The electronic device shown is only an example and should not limit the functions and scope of use of the embodiments of the present application. Figure 6 As shown, the electronic device 600 includes a processor 601 and a memory 602. The memory 602 is used to store program codes, and the processor 601 is connected to the memory 602 to read the program codes from the memory 602 to implement the filling support follow-up control method in the above embodiment.

[0057] Optionally, the number of processors 601 may be one or more.

[0058] Optionally, the electronic device may further include an interface 603, and the number of the interface 603 may be multiple. The interface 603 may be connected to an application program and may receive data from an external device such as a sensor.

[0059] Finally, it should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present invention, and any equivalent substitutions of the present invention and any modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. A filling stent following machine control method, characterized in that: include: Obtain geological environment parameters of fully mechanized mining working face; According to the geological environment parameters and the performance matching of the coal mining equipment, a follow-up control model of the filling support is determined; According to the total liquid supply flow required for various actions of the filling bracket, the control strategy output by the following control model is determined, and according to the control strategy, the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket are regulated in real time.

2. The method according to claim 1, characterized in that The obtaining of geological environment parameters of the fully mechanized mining working face includes: Based on geophysical exploration operations, obtain the geological structure distribution and morphological characteristics of the fully mechanized mining face; Based on the measurement of the geological structure distribution and the morphological characteristics, real-time geological information parameters are obtained; The geological environment parameters of the fully mechanized mining working face are obtained by fitting the real-time geological information parameters based on the historical geological information parameters of the fully mechanized mining working face.

3. The method according to claim 2, characterized in that The fitting of the real-time geological information parameters according to the historical geological information parameters of the fully-mechanized mining working face to obtain the geological environment parameters of the fully-mechanized mining working face includes: Obtain the first knowledge graph of historical geological information parameters; Standardizing the real-time geological information parameters according to the first knowledge graph to determine the correlation between the historical geological information parameters and the real-time geological information parameters; Based on the correlation, the first knowledge graph is updated by the real-time geological information parameters to obtain the geological environment parameters of the comprehensive mining working face.

4. The method according to claim 3, characterized in that The first knowledge graph for obtaining historical geological information parameters includes: Obtain historical geological information parameters of the fully mechanized mining face from historical geological survey reports; Performing data cleaning and data standardization operations on the historical geological information parameters to obtain first intermediate data; According to the parameter range included in the knowledge graph as needed, a relationship extraction operation is performed on the first intermediate data to obtain a first knowledge graph of historical geological information parameters.

5. The method according to claim 3, characterized in that: The updating of the first knowledge graph by the real-time geological information parameters to obtain geological environment parameters of the fully mechanized mining working face includes: Acquire a second knowledge graph by performing an update operation on the first knowledge graph according to the real-time geological information parameter; Performing a time series analysis operation on the real-time geological information parameters according to the second knowledge graph to obtain a change trend of the real-time geological information parameters over time; According to the relationship network in the second knowledge graph, the geological environment parameters of the comprehensive mining working face are obtained from the change trend.

6. The method according to any one of claims 1 to 5, characterized in that The method of determining the following control model of the filling support according to the matching of the geological environment parameters and the performance of the coal mining equipment includes: From the geological environment parameters, obtain geological stability parameters, coal seam occurrence parameters and risk impact parameters of the fully mechanized mining face; Based on the geological stability parameters, the coal seam occurrence parameters and the risk impact parameters, a performance analysis is performed on the coal mining equipment to obtain configuration parameters of the filling support; Determine a control system and a data sensing network corresponding to the filling bracket according to the configuration parameters; According to the connection relationship between the control system and the data sensing network, a machine control model for filling the bracket is determined.

7. The method according to claim 6, characterized in that Determining a machine control model for filling the stent according to the connection relationship between the control system and the data sensing network includes: Determine a data interaction mode and a control instruction issuing mode according to a connection relationship between the control system and the data sensing network; According to the data interaction mode and the control instruction issuing mode, a machine control model for filling the stent is determined.

8. The method according to claim 1, characterized in that The control strategy of determining the output of the machine control model according to the total liquid supply flow required for filling various actions of the stent includes: Obtain the movements required by the filling stent to perform different tasks; Determine the fluid flow rate required to complete the action according to the specifications of the actuator of the hydraulic system; Summarize the liquid supply flow rates required for all actions to obtain the total liquid supply flow rates required for various actions of the filling bracket under the corresponding working state; Based on the total liquid supply flow rate, an application control algorithm is determined, and according to the application control algorithm, a control strategy output by the following control model is determined.

9. The method according to claim 1 or 8, characterized in that: According to the control strategy, the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket are adjusted in real time, including: Based on the control strategy, obtaining the priority of the stent filling action; According to the priority, the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket are regulated.

10. A filling support machine control device, characterized in that: include: A first acquisition module, the first acquisition module is used to obtain geological environment parameters of the fully mechanized mining working face; A second acquisition module, the second acquisition module is used to determine a machine control model of the filling support according to the geological environment parameters and the performance matching of the coal mining equipment; A control module is used to determine the control strategy output by the following control model according to the total liquid supply flow required for various actions of the filling bracket, and according to the control strategy, to regulate the following action of the filling bracket and the filling operation action of the rear isolation part of the filling bracket in real time.

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