Pressure supplementing method for hydraulic support of coal face and hydraulic support system

Abstract

The invention relates to the technical field of coal mining, in particular to a pressure supplementing method for a coal face hydraulic support and a hydraulic support system.The pressure supplementing method comprises the steps that it is determined that the hydraulic support is in an idle state; the stand column supporting pressure of the hydraulic support is detected; when the supporting pressure of the stand column is reduced to the pressure supplementing range, the pressure supplementing function is started, and the hydraulic support is controlled to execute the column lifting action; in the process that the hydraulic support executes the column lifting action, whether the supporting pressure of the stand column reaches the target pressure or not is judged; and when the supporting pressure of the stand column reaches the target pressure, the column lifting action is stopped. The scheme is used for solving the safety and stability problems caused by lack of effective monitoring and adjusting measures in the prior art, the supporting pressure is automatically monitored and adjusted, it is ensured that the hydraulic support is in the optimal working state all the time, and the safety and efficiency of coal mining operation are improved.

Description

Technical Field

[0001] The invention relates to the technical field of coal mining, and in particular to a pressure supplement method for a hydraulic support of a coal mining working face and a hydraulic support system. Background Art

[0002] With the continuous development of the coal industry, the application of intelligent coal mining faces has become more and more extensive, greatly improving the efficiency and safety of coal mining. As a key equipment in the coal mining face, the hydraulic support is mainly responsible for supporting the roof and ensuring the safety and stability of the working face. However, although the hydraulic support technology has made significant progress, there are still some challenges in practical application.

[0003] At present, the hydraulic support system lacks effective monitoring and adjustment measures, resulting in the inability to adjust the support force in time in some cases. This not only affects the efficiency of coal mining, but more importantly, it poses a hidden danger to the safety and stability of the mine. For example, due to the inability to monitor and adjust the support force in real time, the hydraulic support may not provide sufficient support when facing different geological conditions, thereby increasing the risk of roof collapse and endangering the lives of workers. Summary of the invention

[0004] The present invention provides a pressure supplement method and a hydraulic support system for a coal mining working face, which are used to solve the safety and stability problems caused by the lack of effective monitoring and adjustment measures in the prior art, realize automatic monitoring and adjustment of support pressure, ensure that the hydraulic support is always in the best working state, and improve the safety and efficiency of coal mining operations.

[0005] The present invention provides a pressure-compensating method for a hydraulic support of a coal mining working face, comprising: determining that the hydraulic support is in an idle state; detecting the support pressure of a column of the hydraulic support; when the support pressure of the column drops to a pressure-compensating range, starting a pressure-compensating function to control the hydraulic support to perform a column-raising action; during the process of the hydraulic support performing the column-raising action, determining whether the support pressure of the column reaches a target pressure; and stopping the column-raising action when the support pressure of the column reaches the target pressure.

[0006] According to one embodiment of the present invention, it also includes: during the process of the hydraulic support performing the column raising action, detecting the support height of the hydraulic support; judging whether the support height reaches the set height; when the support height reaches the set height, stopping the column raising action.

[0007] According to one embodiment of the present invention, it also includes: during the process of the hydraulic support performing the column lifting action, detecting the main frame height of the hydraulic support and the adjacent frame height of the adjacent frame support adjacent to the hydraulic support; comparing the main frame height and the adjacent frame height; when the main frame height is greater than the adjacent frame height, stopping the column lifting action.

[0008] According to one embodiment of the present invention, before the step of stopping the column raising action, it includes: detecting the relative parallelism between the top beam and the base of the hydraulic support; judging whether the hydraulic support is in a standard posture according to the relative parallelism; and allowing the hydraulic support to stop the column raising action when the hydraulic support is in the standard posture.

[0009] According to one embodiment of the present invention, the step of detecting the relative parallelism between the top beam and the base of the hydraulic support includes: detecting the base inclination angle of the base relative to the horizontal plane, and detecting the top beam inclination angle of the top beam relative to the horizontal plane; determining the relative parallelism between the top beam and the base based on the base inclination angle and the top beam inclination angle.

[0010] According to one embodiment of the present invention, the inclination angle of the base includes: an inclination angle Qx1 of the base along the inclination of the working surface relative to the horizontal plane, a pitch angle Qy1 of the base along the direction of the working surface relative to the horizontal plane, and a rotation angle Qz1 of the base relative to the horizontal plane; the inclination angle of the top beam includes: an inclination angle Qx2 of the top beam along the inclination of the working surface relative to the horizontal plane, a pitch angle Qy2 of the top beam along the direction of the working surface relative to the horizontal plane, and a rotation angle Qz2 of the top beam relative to the horizontal plane; the step of determining the relative parallelism of the top beam and the base includes: calculating the three-axis relative difference of the base and the top beam according to the inclination angle of the base and the inclination angle of the top beam, and the three-axis relative difference includes: a first axis difference ΔQx=Qx2-Qx1, a second axis difference ΔQy=Qy2-Qy1 and a third axis difference ΔQz=Qz2-Qz1; the standard posture includes that when the top beam and the base are relatively parallel, the first axis difference ΔQx, the second axis difference ΔQy and the third axis difference ΔQz are all zero.

[0011] According to one embodiment of the present invention, the standard posture includes 0°≤ΔQy≤7°; after the step of calculating the three-axis relative difference between the base and the top beam, it also includes: determining the inclination state of the top beam according to the second-axis difference ΔQy; when the second-axis difference ΔQy is less than 0°, the top beam is in a downward attached state; when the second-axis difference ΔQy is greater than 7°, the top beam is in an upward tilted state.

[0012] According to one embodiment of the present invention, the step of detecting the relative parallelism of the top beam and the base of the hydraulic support includes: detecting the front end height H1 and the rear end height H2 of the top beam; calculating the height difference ΔH=H1-H2 between the front end height H1 and the rear end height H2; the standard posture includes the front end height H1 being greater than or equal to the rear end height H2, and 0cm≤ΔH≤5cm.

[0013] According to one embodiment of the present invention, after the step of judging whether the hydraulic support is in a standard posture according to the relative parallelism, it further includes: when the hydraulic support is in a non-standard posture, controlling the top beam to adjust back to the standard posture.

[0014] The present invention also provides a hydraulic support system for a coal mining working face, comprising: a hydraulic support device, comprising a base, a top beam and a column mechanism, the base and the top beam are respectively provided with three-axis inclination sensors, the front end and the rear end of the top beam are respectively provided with height measuring sensors, and the column mechanism is provided with a column pressure sensor for measuring the hydraulic pressure of the column; a controller, connected to the three-axis inclination sensor, the height measuring sensor and the column pressure sensor, the controller being configured to control the hydraulic support device to execute the pressure compensation method of the hydraulic support of the coal mining working face of the above-mentioned embodiment.

[0015] The pressure-compensating method for the hydraulic support of the coal mining working face provided by the present invention ensures that the column support pressure is always kept within a safe range by automatically detecting the column support pressure of the hydraulic support and starting the pressure-compensating function when the pressure drops to a preset range. The hydraulic support system of the coal mining working face executes the pressure-compensating method for the hydraulic support of the coal mining working face, thereby realizing real-time monitoring and automatic adjustment of the support pressure of the hydraulic support. Therefore, the present invention can effectively improve the working stability of the hydraulic support, enhance the safety of coal mining operations, and reduce safety hazards and production interruptions caused by insufficient support force. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 It is a schematic flow chart of the pressure supplement method of the hydraulic support of the coal mining working face provided by the present invention.

[0018] Figure 2 The present invention is a schematic structural diagram of a two-column hydraulic support system for a coal mining working face.

[0019] Figure 3 The present invention is a schematic structural diagram of a four-column hydraulic support system for a coal mining working face.

[0020] Reference numerals: 11. Base; 12. Top beam; 13. Column mechanism. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, rather than indicating or implying that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limitations on the embodiments of the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance. It should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "set", "install", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0023] Combine the following Figure 1 , Figure 2 and Figure 3 As shown, the specific implementation methods of the hydraulic support pressure supplement method and the hydraulic support system of the coal mining working face of the present invention are described.

[0024] The present invention provides a method for compensating pressure of a hydraulic support in a coal mining working face, comprising: Step 110: Determine whether the hydraulic support is in an idle state. Specifically, by detecting the working state parameters of the hydraulic support (such as the top beam position, column stroke, etc.), determine whether the hydraulic support is in a non-working state, that is, no operations such as pushing and lowering the column are performed. Only when it is confirmed that the hydraulic support is in an idle state, the pressure replenishment operation is allowed to avoid conflicts with other operations and ensure safety.

[0025] Step 120: Detect the support pressure of the column of the hydraulic support. Specifically, the column pressure sensor installed on the column mechanism is used to monitor the hydraulic pressure of the column in real time. The controller obtains the current support pressure value of the column by reading the data of these sensors.

[0026] Step 130: When the column support pressure drops to the pressure compensation range, the pressure compensation function is activated to control the hydraulic support to perform the column lifting action. Specifically, when it is detected that the column support pressure drops to the preset pressure compensation range (for example, below a certain threshold), the controller activates the pressure compensation function. At this time, the controller issues an instruction to control the hydraulic system to supply oil to the column, so that the column performs the column lifting action to increase the support pressure.

[0027] Step 140: During the process of the hydraulic support performing the column raising action, determine whether the column support pressure reaches the target pressure. Specifically, the controller continuously monitors the column support pressure during the column raising process. By reading the data of the column pressure sensor in real time, determine whether the current support pressure has reached the preset target pressure value.

[0028] Step 150: When the column support pressure reaches the target pressure, the column raising action is stopped. Specifically, once the column support pressure reaches the target pressure value, the controller immediately stops supplying oil to the column, so that the column raising action stops. This ensures that the column support pressure remains within a safe and stable working range, avoiding the problem of excessive pressure caused by excessive column raising.

[0029] Through the above steps, the present invention can realize automatic monitoring and adjustment of the supporting pressure of the hydraulic support, ensure that the hydraulic support is always in the best working state, and improve the safety and efficiency of coal mining operations.

[0030] Furthermore, a method for compensating pressure of a hydraulic support on a coal mining face according to the present invention further includes: Step 141: During the process of the hydraulic support performing the column raising action, the support height of the hydraulic support is detected. Specifically, the support height of the hydraulic support is monitored in real time using height measuring sensors installed at the front and rear ends of the top beam. The controller obtains the current support height value by reading the data of these sensors.

[0031] Step 142, determine whether the support height has reached the set height. Specifically, the controller continuously monitors the support height during the column raising process. By reading the data of the height measuring sensor in real time, it is determined whether the current support height has reached the preset set height value. This set height value is usually pre-set according to the specific geological conditions and safety requirements of the coal mining face.

[0032] Step 143, when the support height reaches the set height, stop the column raising action. Specifically, once the support height reaches the set height value, the controller immediately stops supplying oil to the column, so that the column raising action stops. This can prevent the support from being over-raised, avoid safety accidents caused by the support height exceeding the safety range, and ensure that the support provides stable support force within the appropriate height range. By effectively controlling the height of the support, it is ensured that the hydraulic support works in a safe and stable state, further improving the safety and efficiency of coal mining operations.

[0033] Furthermore, according to a method for compensating pressure of a hydraulic support on a coal mining face of the present invention, the height difference between the hydraulic support and the adjacent support is controlled to ensure that the hydraulic support operates in a safe and stable state. The method for compensating pressure includes: Step 144: During the process of the hydraulic support performing the column lifting action, the height of the hydraulic support and the height of the neighboring support adjacent to the hydraulic support are detected. Specifically, the height of the current hydraulic support (the current support) is monitored in real time using the height measuring sensors installed at the front and rear ends of the top beam. At the same time, the height data of the neighboring support adjacent to the current hydraulic support is obtained through the communication network or other means. The controller obtains the current height of the current support and the height of the neighboring support by reading these sensors and communication data.

[0034] Step 145, compare the height of the current frame with the height of the adjacent frame. Specifically, the controller continuously compares the current height of the current frame with the height of the adjacent frame during the column raising process. By reading the data of the height measuring sensor and the height data of the adjacent frame in real time, it is determined whether the current height of the current frame exceeds the height of the adjacent frame. This comparison process is carried out in real time to ensure that the relative heights of the two can be accurately grasped at any time.

[0035] Step 146: When the height of the current frame is greater than the height of the adjacent frame, the column raising action is stopped. Specifically, once it is detected that the height of the current frame is greater than the height of the adjacent frame, the controller immediately stops supplying oil to the column, so that the column raising action stops. This can prevent the current frame from exceeding the height of the adjacent frame, avoid the instability of the top plate or the poor matching between the brackets due to the large height difference, and thus ensure the stability and safety of the entire working surface.

[0036] Preferably, according to a method for compensating pressure of a hydraulic support of a coal mining working face of the present invention, before the step of stopping the column lifting action, the method comprises: Step 151, detect the relative parallelism between the top beam and the base of the hydraulic support. Specifically, the three-axis inclination sensors installed on the base and the top beam are used to monitor the inclination angles of the top beam and the base in real time. The controller calculates the relative parallelism between the top beam and the base by reading the data of these sensors to ensure that the hydraulic support maintains the correct posture during the column raising process to avoid instability caused by tilting.

[0037] Step 152: Determine whether the hydraulic support is in a standard posture according to the relative parallelism. Specifically, the controller compares the calculated relative parallelism with a preset standard value. If the relative parallelism is within a preset allowable range, the hydraulic support is considered to be in a standard posture; otherwise, the posture of the hydraulic support is considered to be non-standard. The definition of the standard posture is usually based on the design specifications and safety requirements of the hydraulic support to ensure that the support remains stable under normal working conditions.

[0038] Step 153: When the hydraulic support is in a standard posture, the hydraulic support is allowed to stop the column raising action. Specifically, the controller allows the execution of the command to stop the column raising action only when it determines that the hydraulic support is in a standard posture. If the posture of the hydraulic support is not standard, the controller will sound an alarm or take other measures (such as adjusting the column pressure or re-executing the column raising action) until the support returns to the standard posture, ensuring that the hydraulic support is in the most stable and safe state when the column raising action is stopped, avoiding safety hazards caused by non-standard posture.

[0039] Furthermore, according to a method for compensating pressure of a hydraulic support on a coal mining face of the present invention, the step of detecting the relative parallelism between the top beam and the base of the hydraulic support comprises: Step 1511, detect the base inclination angle of the base relative to the horizontal plane, and detect the top beam inclination angle of the top beam relative to the horizontal plane. Specifically, use the three-axis inclination sensors installed on the base and the top beam to detect the inclination angles of the base and the top beam relative to the horizontal plane respectively. The three-axis inclination sensor can provide accurate inclination angle data to help the controller obtain the inclination of the base and the top beam. The controller obtains the specific values ​​of the base inclination angle and the top beam inclination angle by reading the data of these sensors.

[0040] Step 1512: Determine the relative parallelism between the top beam and the base according to the base inclination angle and the top beam inclination angle. Specifically, the controller determines the relative parallelism between the top beam and the base through the following steps: Calculate the inclination difference: The controller first calculates the difference between the inclination of the base and the inclination of the top beam, that is, Δθ=θtop beam−θbase Δ, where θtop beam is the inclination of the top beam and θbase is the inclination of the base. Based on the calculated inclination difference Δθ, the controller evaluates the relative parallelism of the top beam and the base. If Δθ is within the preset allowable range (for example, ±1°), the relative parallelism of the top beam and the base is considered to meet the standard; otherwise, the parallelism is considered to be non-compliant.

[0041] Through the above steps, the present invention can accurately detect and evaluate the relative parallelism between the top beam and the base of the hydraulic support, ensuring that the hydraulic support is in a standard posture when the column lifting action is stopped.

[0042] Further, according to a method for compensating pressure of a hydraulic support in a coal mining working face of the present invention, the step of determining the relative parallelism between the top beam and the base preferably includes: Step 1513, calculate the three-axis relative difference of the base and the top beam according to the inclination angle of the base and the top beam. Specifically, the three-axis inclination sensors installed on the base and the top beam are used to detect the inclination angles of the base and the top beam in three directions respectively. Among them, the inclination angle of the base includes: the inclination angle Qx1 of the base along the inclination of the working surface relative to the horizontal plane, the pitch angle Qy1 of the base along the direction of the working surface relative to the horizontal plane, and the rotation angle Qz1 of the base relative to the horizontal plane. The inclination angle of the top beam includes: the inclination angle Qx2 of the top beam along the inclination of the working surface relative to the horizontal plane, the pitch angle Qy2 of the top beam along the direction of the working surface relative to the horizontal plane, and the rotation angle Qz2 of the top beam relative to the horizontal plane. The three-axis relative difference includes: the first axis difference ΔQx=Qx2-Qx1, the second axis difference ΔQy=Qy2-Qy1 and the third axis difference ΔQz=Qz2-Qz1.

[0043] Step 1514, the standard posture includes that when the top beam and the base are relatively parallel, the first axis difference ΔQx, the second axis difference ΔQy, and the third axis difference ΔQz are all zero. Specifically, the controller compares the calculated three-axis relative differences with the preset standard values. If all three-axis relative differences are within the allowable range, the controller considers that the hydraulic support is in a standard posture; otherwise, the posture of the hydraulic support is considered to be non-standard. When the hydraulic support is in a standard posture, the controller allows the execution of a command to stop the column lifting action. If the posture is not standard, the controller will sound an alarm or take other measures (such as adjusting the column pressure or re-executing the column lifting action) until the support returns to the standard posture.

[0044] It can be understood that the standard posture includes not only the situation where all the three-axis relative differences are zero, but also the tilt state within a specific range. According to a method for compensating the pressure of a hydraulic support on a coal mining face of the present invention, the standard posture includes 0°≤ΔQy≤7°. After the above step of calculating the three-axis relative differences between the base and the top beam, it also includes: Step 1515, determine the tilt state of the top beam according to the second axis difference ΔQy. Specifically, the controller determines the tilt state of the top beam by calculating the second axis difference ΔQy. The second axis difference ΔQy represents the pitch angle difference of the top beam along the working surface relative to the base. According to the value of ΔQy, the controller can determine the tilt state of the top beam.

[0045] Step 1516: When the second axis difference ΔQy is less than 0°, the top beam is in the lower attached state. Specifically, if the calculated second axis difference ΔQy is less than 0°, it indicates that the top beam is tilted downward relative to the base, that is, the top beam is in the lower attached state. In this case, the controller will issue an alarm or take other measures, such as adjusting the column pressure or re-executing the column lifting action, to restore the top beam to the standard posture.

[0046] Step 1517: When the second axis difference ΔQy is greater than 7°, the top beam is in an upward tilt state. Specifically, if the calculated second axis difference ΔQy is greater than 7°, it indicates that the top beam is tilted upward relative to the base, that is, the top beam is in an upward tilt state. In this case, the controller will also issue an alarm or take other measures, such as adjusting the column pressure or re-executing the column lifting action, to restore the top beam to the standard posture.

[0047] Preferably, according to a method for compensating pressure of a hydraulic support on a coal mining face of the present invention, the step of detecting the relative parallelism between the top beam and the base of the hydraulic support comprises: Step 1501, detect the front end height H1 and rear end height H2 of the top beam. Specifically, use the height measuring sensors installed at the front end and rear end of the top beam to detect the height of the front end and rear end of the top beam respectively. The controller obtains the specific values ​​of the front end height H1 and rear end height H2 of the top beam by reading the data of these sensors. These two height values ​​reflect the inclination of the top beam on the working surface.

[0048] Step 1502, calculate the height difference ΔH=H1-H2 between the front height H1 and the rear height H2. Specifically, the controller calculates the height difference between the front and rear ends of the top beam using the above formula, and the height difference ΔH reflects the degree of inclination of the top beam along the direction of the working surface. By calculating ΔH, the controller can evaluate the inclination state of the top beam.

[0049] Step 1503: The standard posture includes that the front height H1 is greater than or equal to the rear height H2, and 0cm≤ΔH≤5cm. If the above two conditions are met, the controller considers that the hydraulic support is in the standard posture; otherwise, the posture of the hydraulic support is considered to be non-standard. When the hydraulic support is in the standard posture, the controller allows the execution of the command to stop the column lifting action. If the posture is non-standard, the controller will sound an alarm or take other measures (such as adjusting the column pressure or re-executing the column lifting action) until the support returns to the standard posture.

[0050] According to a preferred embodiment of the present invention, the method for compensating the pressure of the hydraulic support of the coal mining working face further comprises, after the step of judging whether the hydraulic support is in a standard posture according to the relative parallelism: Step 1521: When the hydraulic support is in a non-standard posture, control the top beam to adjust back to the standard posture. Specifically, when the controller determines that the hydraulic support is in a non-standard posture, it will take corresponding adjustment measures according to the specific posture deviation to restore the top beam to the standard posture. The specific adjustment method is as follows: When the second axis difference ΔQy<0°, the top beam is in the lowered state. For a two-column support, the controller first issues a command to jog the lowering column to slightly lower the top beam. Then, the controller issues a command to retract the balancing cylinder to adjust the top beam. Finally, the controller issues a command again to jog the raising column to compensate for the lowering of the support height and the reduction of column pressure caused by the lowering of the column. For a four-column support, the controller first issues a command to jog the raising of the front column to raise the front end of the top beam. Then, the controller issues a command to jog the lowering of the rear column to lower the rear end of the top beam, thereby adjusting the top beam.

[0051] When the second axis difference ΔQy>7°, the top beam is in an upward state. For a two-column support, the controller first issues a command to jog the lowering column to slightly lower the top beam. Then, the controller issues a command to jog the extension of the balancing cylinder to adjust the top beam. Finally, the controller issues a command again to jog the raising column to compensate for the lowering of the support height and the reduction of the column pressure caused by the lowering of the column. For a four-column support, the controller issues a command to jog the rear raising column to raise the rear end of the top beam, thereby adjusting the top beam.

[0052] After the adjustment is completed, the controller detects the front height H1 and rear height H2 of the top beam again, and calculates the height difference ΔH and the three-axis differences ΔQx, ΔQy, and ΔQz. If H1≥H2 and 0cm≤ΔH≤5cm, and 0°≤ΔQy≤7°, it is considered that the top beam has been adjusted back to the standard posture and the adjustment is completed. If the standard posture is still not reached, repeat the above adjustment steps until the top beam returns to the standard posture.

[0053] Through the above steps, the present invention can ensure that when the hydraulic support is in a non-standard posture, the top beam is restored to the standard posture through precise adjustment measures, thereby further improving the safety and stability of coal mining operations. The specific steps are as follows: Calculate ΔQy to determine whether the top beam is in a downward attached state or an upward tilted state. According to the inclination state of the top beam, take corresponding adjustment measures to restore the top beam to the standard posture. Detect the height and inclination angle of the top beam again to ensure that the top beam has been adjusted back to the standard posture. Through the above steps, the present invention can ensure that the hydraulic support always maintains a safe and stable working state during the pressure replenishment process.

[0054] The coal mining working face hydraulic support system provided by the present invention is described below. The coal mining working face hydraulic support system described below and the coal mining working face hydraulic support pressure replenishing method described above can be referred to each other.

[0055] The present invention also provides a hydraulic support system for a coal mining working face, comprising: a hydraulic support device, including a base, a top beam, a column mechanism, and a controller. Preferably, a three-axis inclination sensor is provided on the base and the top beam, a height sensor is provided on the front end and the rear end of the top beam, and a column pressure sensor is provided on the column mechanism for measuring the hydraulic pressure of the column. The controller is connected to the three-axis inclination sensor, the height sensor, and the column pressure sensor. The controller is configured to control the hydraulic support device to execute the pressure replenishment method of the hydraulic support of the coal mining working face of the above-mentioned embodiment.

[0056] Specifically, the controller monitors the column support pressure of the hydraulic support in real time through the column pressure sensor, and starts the pressure compensation function when the column support pressure drops to a preset pressure compensation range.

[0057] During the pressure replenishment process, the controller continuously detects the front end height H1 and rear end height H2 of the frame through the height measuring sensor, and obtains the height data of the adjacent frame through the communication network to determine whether the height of the frame reaches the set height, and whether the difference between the height of the frame and the adjacent frame exceeds the preset value. When the column support pressure does not reach the target pressure and the height of the frame does not reach the set height, and the difference between the height of the frame and the adjacent frame is within the allowable range, the controller controls the hydraulic system to perform the column lifting action to increase the column support pressure.

[0058] During the column raising process, the controller continuously monitors the column support pressure and support height. When the column support pressure reaches the target pressure or the support height of the current support reaches the set height, or the support height of the current support is greater than the height of the adjacent support, the controller stops the column raising action. Subsequently, the controller detects the inclination angle of the base and top beam through the three-axis inclination sensor, and calculates the three-axis relative differences ΔQx, ΔQy and ΔQz of the base and top beam, as well as the height difference ΔH between the front and rear ends of the top beam.

[0059] The standard posture is defined as: the front end of the top beam is slightly higher than the rear end of the top beam, that is, H1≥H2 and 0cm≤ΔH≤5cm, and 0°≤ΔQy≤7°.

[0060] If the controller determines that the hydraulic support is in a non-standard posture, it will take corresponding adjustment measures according to the specific posture deviation to restore the top beam to the standard posture, such as adjusting the two-column support by jogging the column down, retracting the balancing cylinder, jogging the column up, etc., or adjusting the four-column support by jogging the front column up, jogging the rear column down, etc. After the adjustment is completed, the controller will detect the height and inclination of the top beam again to ensure that the top beam has been adjusted back to the standard posture. If it still does not reach the standard posture, repeat the above adjustment steps until the top beam returns to the standard posture.

[0061] In order to achieve safe support of the working face roof by the hydraulic support, the present invention proposes a new intelligent pressure compensation scheme for the hydraulic support in combination with multi-sensor fusion technology, which ensures that the support posture is in the standard posture when it is moved next time under the condition of effective support. Through these steps, the present invention can ensure that the hydraulic support always maintains a safe and stable working state during the pressure compensation process, thereby further improving the safety and stability of coal mining operations. Through the description of the above implementation methods, those skilled in the art can clearly understand that the implementation methods of each method can be implemented by means of software plus a necessary general hardware platform, and of course, by hardware. Based on this understanding, the above technical solution is essentially or the part that contributes to the prior art can be embodied in the form of a software product, and the computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, a disk, an optical disk, etc., including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0062] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0063] 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 make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for compensating pressure of a hydraulic support in a coal mining working face, characterized in that: include: Make sure the hydraulic support is in idle state; Detect the column support pressure of the hydraulic support; When the support pressure of the column drops to the pressure compensation range, the pressure compensation function is started to control the hydraulic support to perform the column lifting action; During the process of the hydraulic support performing the column lifting action, determining whether the column support pressure reaches the target pressure; When the column support pressure reaches the target pressure, the column lifting action is stopped.

2. The method for compensating pressure of hydraulic support in coal mining working face according to claim 1, characterized in that: Also includes: During the process of the hydraulic support performing the column raising action, detecting the support height of the hydraulic support; Determining whether the height of the bracket reaches a set height; When the height of the support reaches the set height, the column lifting action is stopped.

3. The method for compensating pressure of hydraulic support in coal mining working face according to claim 1, characterized in that: Also includes: During the process of the hydraulic support performing the column lifting action, detecting the height of the hydraulic support and the height of the adjacent support of the adjacent support adjacent to the hydraulic support; Comparing the height of the current rack with the height of the adjacent rack; When the height of the frame is greater than the height of the adjacent frame, the column raising action is stopped.

4. The method for compensating pressure of a hydraulic support on a coal mining face according to any one of claims 1 to 3, characterized in that: Before the step of stopping the column lifting action, the method includes: Detecting the relative parallelism between the top beam and the base of the hydraulic support; judging whether the hydraulic support is in a standard posture according to the relative parallelism; When the hydraulic support is in the standard posture, the hydraulic support is allowed to stop the lifting column action.

5. The method for compensating pressure of hydraulic support in coal mining working face according to claim 4, characterized in that: The step of detecting the relative parallelism between the top beam and the base of the hydraulic support comprises: Detecting the base inclination angle of the base relative to the horizontal plane, and detecting the top beam inclination angle of the top beam relative to the horizontal plane; The relative parallelism between the top beam and the base is determined according to the base inclination angle and the top beam inclination angle.

6. The method for compensating pressure of hydraulic support in coal mining working face according to claim 5, characterized in that: The base inclination angle includes: the base inclination angle Qx1 along the working surface relative to the horizontal plane, the base pitch angle Qy1 along the working surface relative to the horizontal plane, and the base rotation angle Qz1 relative to the horizontal plane; The top beam inclination angle includes: the top beam inclination angle Qx2 relative to the horizontal plane along the working surface, the top beam pitch angle Qy2 relative to the horizontal plane along the working surface, and the top beam rotation angle Qz2 relative to the horizontal plane; The step of determining the relative parallelism between the top beam and the base comprises: According to the inclination angle of the base and the inclination angle of the top beam, the three-axis relative difference between the base and the top beam is calculated, and the three-axis relative difference includes: a first axis difference ΔQx=Qx2-Qx1, a second axis difference ΔQy=Qy2-Qy1 and a third axis difference ΔQz=Qz2-Qz1; The standard posture includes when the top beam and the base are relatively parallel, the first axis difference ΔQx, the second axis difference ΔQy, and the third axis difference ΔQz are all zero.

7. The method for compensating pressure of hydraulic support in coal mining working face according to claim 6, characterized in that: The standard posture includes 0°≤ΔQy≤7°; After the step of calculating the relative difference between the three axes of the base and the top beam, the method further includes: determining the tilt state of the top beam according to the second axis difference ΔQy; When the second axis difference ΔQy is less than 0°, the top beam is in a downwardly attached state; When the second axis difference ΔQy is greater than 7°, the top beam is in an upward tilt state.

8. The method for compensating pressure of hydraulic support in coal mining working face according to claim 4, characterized in that: The step of detecting the relative parallelism between the top beam and the base of the hydraulic support comprises: Detecting the front end height H1 and the rear end height H2 of the top beam; Calculate the height difference ΔH=H1-H2 between the front end height H1 and the rear end height H2; The standard posture includes that the front end height H1 is greater than or equal to the rear end height H2, and 0cm≤ΔH≤5cm.

9. The method for compensating pressure of hydraulic support in coal mining working face according to claim 4, characterized in that: After the step of judging whether the hydraulic support is in a standard posture according to the relative parallelism, the method further includes: When the hydraulic support is in a non-standard posture, the top beam is controlled to be adjusted back to the standard posture.

10. A hydraulic support system for a coal mining face, characterized in that: include: A hydraulic support device, comprising a base, a top beam and a column mechanism, wherein the base and the top beam are respectively provided with a three-axis inclination sensor, the front end and the rear end of the top beam are respectively provided with a height measuring sensor, and the column mechanism is provided with a column pressure sensor for measuring the hydraulic pressure of the column; A controller is connected to the three-axis inclination sensor, the height sensor and the column pressure sensor, and the controller is configured to control the hydraulic support device to execute the pressure replenishment method of the hydraulic support of the coal mining working face as described in any one of claims 1 to 9.

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