Pressure compensation method for hydraulic support of coal mining face and hydraulic support system

Abstract

The present application relates to the technical field of coal mining, and especially relates to a pressure supplement method of a hydraulic support of a coal mining face and a hydraulic support system, the pressure supplement method comprising: determining that the hydraulic support is in an idle state; detecting a column support pressure of the hydraulic support; starting a pressure supplement function when the column support pressure falls to a pressure supplement range, and controlling the hydraulic support to perform a column lifting action; judging whether the column support pressure reaches a target pressure during the column lifting action of the hydraulic support; and stopping the column lifting action when the column support pressure reaches the target pressure. The present application is used to solve the safety and stability problems caused by the lack of effective monitoring and adjusting measures in the prior art, realizes automatic monitoring and adjusting of the support pressure, ensures that the hydraulic support is always in an optimal working state, and improves the safety and efficiency of coal mining operations.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, and particularly relates to a pressure supplement method of a hydraulic support of a coal mining face and a hydraulic support system. BACKGROUND

[0002] With the continuous development of the coal industry, the application of intelligent coal mining faces is becoming more and more widespread, greatly improving the efficiency and safety of coal mining. As a key device in the coal mining face, the hydraulic support is mainly responsible for supporting the roof to ensure the safety and stability of the working face. However, despite the significant progress made in hydraulic support technology, there are still some challenges in actual application.

[0003] Currently, the hydraulic support system lacks effective monitoring and adjustment measures, resulting in the inability to timely adjust the support force in some cases. This not only affects the efficiency of coal mining, but more importantly, poses a risk 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 be able to provide sufficient support when facing different geological conditions, thereby increasing the risk of roof collapse and endangering the safety of workers. SUMMARY

[0004] The present application provides a pressure supplement method of a hydraulic support of a coal mining face and a hydraulic support system 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 application provides a pressure supplement method of a hydraulic support of a coal mining face, comprising: determining that the hydraulic support is in an idle state; detecting the column support pressure of the hydraulic support; starting the pressure supplement function when the column support pressure falls within the pressure supplement range, controlling the hydraulic support to perform the column lifting action; during the column lifting action of the hydraulic support, determining whether the column support pressure reaches the target pressure; and stopping the column lifting action when the column support pressure reaches the target pressure.

[0006] According to one embodiment of the present application, it further comprises: during the column lifting action of the hydraulic support, detecting the support height of the hydraulic support; determining whether the support height reaches the set height; and stopping the column lifting action when the support height reaches the set height.

[0007] According to one embodiment of the present application, it further comprises: during the column lifting action of the hydraulic support, detecting the support height of the hydraulic support and the adjacent support height of the adjacent support of the hydraulic support; comparing the support height and the adjacent support height; and stopping the column lifting action when the support height is greater than the adjacent support height.

[0008] According to one embodiment of the present application, before the step of stopping the jacking action, the method further comprises: detecting the relative parallelism between the roof beam and the base of the hydraulic support; determining whether the hydraulic support is in a standard posture according to the relative parallelism; and allowing the hydraulic support to stop the jacking action when the hydraulic support is in the standard posture.

[0009] According to one embodiment of the present application, the step of detecting the relative parallelism between the roof beam and the base of the hydraulic support comprises: detecting a base inclination angle of the base relative to a horizontal plane, and detecting a roof beam inclination angle of the roof beam relative to the horizontal plane; and determining the relative parallelism between the roof beam and the base according to the base inclination angle and the roof beam inclination angle.

[0010] According to one embodiment of the present application, the base inclination angle comprises: a dip angle Qx1 of the base along a working face dip direction relative to a horizontal plane, a pitch angle Qy1 of the base along a working face strike direction relative to the horizontal plane, and a rotation angle Qz1 of the base relative to the horizontal plane; the roof beam inclination angle comprises: a dip angle Qx2 of the roof beam along the working face dip direction relative to the horizontal plane, a pitch angle Qy2 of the roof beam along the working face strike direction relative to the horizontal plane, and a rotation angle Qz2 of the roof beam relative to the horizontal plane; and the step of determining the relative parallelism between the roof beam and the base comprises: calculating a three-axis relative difference between the base and the roof beam according to the base inclination angle and the roof beam inclination angle, the three-axis relative difference comprising: a first-axis difference AQx = Qx2 - Qx1, a second-axis difference AQy = Qy2 - Qy1, and a third-axis difference AQz = Qz2 - Qz1; and the standard posture comprises that the first-axis difference AQx, the second-axis difference AQy, and the third-axis difference AQz are all zero when the roof beam and the base are relatively parallel.

[0011] According to one embodiment of the present application, the standard posture comprises 0° ≤ AQy ≤ 7°; and after the step of calculating the three-axis relative difference between the base and the roof beam, the method further comprises: determining a tilt state of the roof beam according to the second-axis difference AQy; the roof beam is in a lower attached state when the second-axis difference AQy is less than 0°; and the roof beam is in an upward tilted state when the second-axis difference AQy is greater than 7°.

[0012] According to one embodiment of the present application, the step of detecting the relative parallelism between the roof beam and the base of the hydraulic support comprises: detecting a front end height H1 and a rear end height H2 of the roof beam; calculating a height difference AH = H1 - H2 of the front end height H1 and the rear end height H2; and the standard posture comprises that the front end height H1 is greater than or equal to the rear end height H2, and 0 cm ≤ AH ≤ 5 cm.

[0013] According to one embodiment of the present application, after the step of judging whether the hydraulic support is in the standard posture according to the relative parallelism, the method further comprises: controlling the top beam to adjust back to the standard posture in the case that the hydraulic support is in the non-standard posture.

[0014] The present application also provides a coal mining face hydraulic support system, comprising: a hydraulic support device comprising a base, a top beam and a column mechanism, a three-axis tilt angle sensor is arranged on the base and the top beam respectively, a height measuring sensor is arranged on the front end and the rear end of the top beam respectively, and a column pressure sensor for measuring the column hydraulic pressure is arranged on the column mechanism; and a controller connected to the three-axis tilt angle sensor, the height measuring sensor and the column pressure sensor, the controller being configured to control the hydraulic support device to perform the pressure compensation method of the coal mining face hydraulic support according to the above embodiment.

[0015] The present application provides a pressure compensation method of a coal mining face hydraulic support, which automatically detects the column support pressure of the hydraulic support and starts the pressure compensation function when the pressure drops to a preset range, so as to ensure that the column support pressure is always kept within a safe range. The coal mining face hydraulic support system performs the pressure compensation method of the coal mining face hydraulic support, so as to realize real-time monitoring and automatic adjustment of the support pressure of the hydraulic support. Therefore, the present application can effectively improve the working stability of the hydraulic support, enhance the safety of the coal mining operation, and reduce the safety hazards and production interruptions caused by insufficient support force. BRIEF DESCRIPTION OF DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0017] Figure 1 is a flowchart of the pressure compensation method of the coal mining face hydraulic support provided by the present application.

[0018] Figure 2 is a structural schematic diagram of a two-column hydraulic support of the coal mining face hydraulic support system provided by the present application.

[0019] Figure 3 is a structural schematic diagram of a four-column hydraulic support of the coal mining face hydraulic support system provided by the present application.

[0020] Reference signs:

[0021] 11, base; 12, top beam; 13, column mechanism. DETAILED DESCRIPTION

[0022] So that the objects, technical solutions and advantages of the present application are more apparent, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0023] In the description of the embodiments of the present application, it should be noted that the orientations or positional relationships indicated by the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the embodiments of the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the embodiments of the present application. In addition, the terms "first", "second", "third" are only for the purpose of description, and cannot be understood as indicating or implying relative importance. It should also be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect" should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integral connection. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0024] The specific embodiments of the pressure compensation method of the coal mining face hydraulic support and the hydraulic support system of the present application will be described below with reference to the drawings shown in Figure 1 , Figure 2 and Figure 3 .

[0025] The present application provides a pressure compensation method of a coal mining face hydraulic support, comprising:

[0026] Step 110, determine that the hydraulic support is in an idle state. Specifically, by detecting the working state parameters of the hydraulic support (such as the position of the roof beam, the stroke of the column, etc.), it is determined whether the hydraulic support is in a non-working state, i.e. no pushing, column lowering, etc. operation. Only when it is confirmed that the hydraulic support is in an idle state, the pressure compensation operation is allowed to avoid conflict with other operations and ensure safety.

[0027] Step 120, detect the column support pressure of the hydraulic support. Specifically, a 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 column support pressure value by reading the data of these sensors.

[0028] Step 130, when the column support pressure drops to the pressure compensation range, start the pressure compensation function, control the hydraulic support to execute the column lifting action. Specifically, when the column support pressure is detected to drop to a preset pressure compensation range (for example, below a certain threshold), the controller starts 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 executes the column lifting action to increase the support pressure.

[0029] Step 140, during the column lifting action of the hydraulic support, judge whether the column support pressure reaches the target pressure. Specifically, the controller continuously monitors the support pressure of the column during the column lifting process. By reading the data of the column pressure sensor in real time, it is judged whether the current support pressure has reached the preset target pressure value.

[0030] Step 150, when the column support pressure reaches the target pressure, stop the column lifting action. Specifically, once the column support pressure reaches the target pressure value, the controller immediately stops supplying oil to the column to stop the column lifting action. In this way, it can be ensured that the column support pressure remains within a safe and stable working range, avoiding the problem of excessive pressure caused by excessive column lifting.

[0031] Through the above steps, the present application can realize the automatic monitoring and adjustment of the support pressure of the hydraulic support, ensure that the hydraulic support is always in the best working state, and improve the safety and efficiency of the coal mining operation.

[0032] Further, according to the pressure compensation method of the hydraulic support of the coal mining face, further comprising:

[0033] Step 141, during the column lifting action of the hydraulic support, detect the support height of the hydraulic support. Specifically, the height measuring sensors installed at the front and rear ends of the top beam are used to monitor the support height of the hydraulic support in real time. The controller obtains the current support height value by reading the data of these sensors.

[0034] Step 142, judge whether the support height reaches the set height. Specifically, the controller continuously monitors the support height during the column lifting process. By reading the data of the height measuring sensor in real time, it is judged whether the current support height has reached the preset set height value. This set height value is usually preset according to the specific geological conditions and safety requirements of the coal mining face.

[0035] Step 143, stop the column lifting action when the support height reaches the set height. Specifically, once the support height reaches the set height value, the controller immediately stops supplying oil to the column, stopping the column lifting action. This can prevent the support from being raised too high, avoiding safety accidents caused by the support height exceeding the safe range, while ensuring that the support provides stable support force within the appropriate height range. By effectively controlling the height of the support, the hydraulic support is ensured to work in a safe and stable state, further improving the safety and efficiency of coal mining operations.

[0036] Further, according to the pressure compensation method of the hydraulic support of the coal mining face, the height difference between the support and the adjacent support is controlled to ensure that the hydraulic support works in a safe and stable state. The pressure compensation method comprises:

[0037] Step 144, during the column lifting action of the hydraulic support, the height of the support and the height of the adjacent support adjacent to the hydraulic support are detected. Specifically, the height of the current hydraulic support (the support) is monitored in real time by 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 adjacent support adjacent to the current hydraulic support is obtained through a communication network or other means. The controller obtains the current support height and adjacent support height values by reading these sensors and communication data.

[0038] Step 145, compare the support height and the adjacent support height. Specifically, the controller continuously compares the current support height and the adjacent support height during the column lifting process. By reading the data of the height measuring sensors and the adjacent support height data in real time, it is determined whether the current support height exceeds the adjacent support height. This comparison process is carried out in real time to ensure that the relative heights of the two are accurately determined at any time.

[0039] Step 146, stop the column lifting action when the support height is greater than the adjacent support height. Specifically, once it is detected that the support height is greater than the adjacent support height, the controller immediately stops supplying oil to the column, stopping the column lifting action. This can prevent the support height from exceeding the adjacent support height, avoiding instability of the roof or poor cooperation between supports due to excessive height difference, thereby ensuring the stability and safety of the entire working face.

[0040] Preferably, according to the pressure compensation method of the hydraulic support of the coal mining face, before the step of stopping the column lifting action, it comprises:

[0041] Step 151, detect the relative parallelism of the top beam and the base of the hydraulic support. Specifically, the inclination angles of the top beam and the base are monitored in real time by using the three-axis inclination sensors installed on the base and the top beam. The controller calculates the relative parallelism between the top beam and the base by reading the data of these sensors, ensuring that the hydraulic support maintains the correct posture during the column lifting process, avoiding instability caused by tilting.

[0042] Step 152, judging 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 the preset allowable range, it is considered that the hydraulic support is in a standard posture; otherwise, it is considered that the posture of the hydraulic support is not standard. The definition of the standard posture is usually based on the design specifications and safety requirements of the hydraulic support, ensuring that the support remains stable in the normal working state.

[0043] Step 153, allowing the hydraulic support to stop the column lifting action in the case that the hydraulic support is in a standard posture. Specifically, when the controller judges that the hydraulic support is in a standard posture, the command to stop the column lifting action is allowed to be executed. If the posture of the hydraulic support is not standard, the controller will issue an alarm or take other measures (such as adjusting the column pressure or re-executing the column lifting action) until the support returns to a standard posture, ensuring that the hydraulic support is in the most stable and safe state when stopping the column lifting action, avoiding safety hazards caused by the non-standard posture.

[0044] Further, according to the pressure supplement method of the hydraulic support of the coal mining face, the step of detecting the relative parallelism of the top beam and the base of the hydraulic support comprises:

[0045] Step 1511, detecting a base inclination angle of the base relative to the horizontal plane, and detecting a top beam inclination angle of the top beam relative to the horizontal plane. Specifically, 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 relative to the horizontal plane, respectively. The three-axis inclination sensors 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.

[0046] Step 1512, determining the relative parallelism of 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 of the top beam and the base by the following steps:

[0047] Calculating the inclination difference: the controller first calculates the difference between the base inclination angle and the top beam inclination angle, i.e. Δθ = θtop beam - θbase Δ, where θtop beam is the inclination angle of the top beam and θbase is the inclination angle of the base. According to 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°), it is considered that the relative parallelism of the top beam and the base meets the standard; otherwise, it is considered that the parallelism does not meet the standard.

[0048] Through the above steps, the present application can accurately detect and evaluate the relative parallelism of the top beam and the base of the hydraulic support, ensuring that the hydraulic support is in a standard posture when stopping the column lifting action.

[0049] Further, according to the pressure compensation method of the hydraulic support of the coal mining face, the step of determining the relative parallelism of the top beam and the base preferably comprises:

[0050] In step 1513, the three-axis relative difference of the base and the top beam is calculated according to the base inclination and the top beam inclination. Specifically, the inclination of the base and the top beam in three directions is detected by the three-axis inclination sensors installed on the base and the top beam. The base inclination includes the inclination angle Qx1 of the base along the inclination of the face relative to the horizontal plane, the inclination angle Qy1 of the base along the strike of the face relative to the horizontal plane, and the rotation angle Qz1 of the base relative to the horizontal plane. The top beam inclination includes the inclination angle Qx2 of the top beam along the inclination of the face relative to the horizontal plane, the inclination angle Qy2 of the top beam along the strike of the face 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.

[0051] In step 1514, the standard posture includes that the first-axis difference ΔQx, the second-axis difference ΔQy, and the third-axis difference ΔQz are all zero when the top beam and the base are relatively parallel. Specifically, the controller compares the calculated three-axis relative difference with the preset standard value. If all the three-axis relative differences are within the allowable range, the controller considers that the hydraulic support is in the standard posture; otherwise, the controller considers that the posture of the hydraulic support is not standard. In the case that 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 not standard, the controller will issue 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.

[0052] It can be understood that the standard posture not only includes the case that all the three-axis relative differences are zero, but also includes the inclination state within a certain range. According to the pressure compensation method of the hydraulic support of the coal mining face, the standard posture includes 0° ≤ ΔQy ≤ 7°. After the step of calculating the three-axis relative difference of the base and the top beam, the following step is further included:

[0053] In step 1515, the inclination state of the top beam is determined according to the second-axis difference ΔQy. Specifically, the controller determines the inclination state of the top beam by the calculated second-axis difference ΔQy. The second-axis difference ΔQy represents the difference in the inclination angle of the top beam along the strike of the face relative to the base. According to the value of ΔQy, the controller can determine the inclination state of the top beam.

[0054] Step 1516, when the second-axis difference AQy is less than 0°, the top beam is in a down attached state. Specifically, if the calculated second-axis difference AQy is less than 0°, it indicates that the top beam is inclined downward relative to the base, i.e. the top beam is in a down 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.

[0055] Step 1517, when the second-axis difference AQy is greater than 7°, the top beam is in an up inclined state. Specifically, if the calculated second-axis difference AQy is greater than 7°, it indicates that the top beam is inclined upward relative to the base, i.e. the top beam is in an up inclined 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.

[0056] Preferably, the method for pressure compensation of a hydraulic support for a coal mining face according to the present application, the step of detecting the relative parallelism of the top beam and the base of the hydraulic support comprises:

[0057] Step 1501, detecting the front end height H1 and the rear end height H2 of the top beam. Specifically, the height of the front end and the rear end of the top beam is detected by using height measuring sensors installed at the front end and the rear end of the top beam. The controller obtains the specific values of the front end height H1 and the rear end height H2 by reading the data of these sensors. These two height values reflect the inclination of the top beam on the working face.

[0058] Step 1502, calculating the height difference AH = H1 - H2 of the front end height H1 and the rear end height H2. Specifically, the controller calculates the height difference of the front end and the rear end of the top beam by the above formula, and the height difference AH reflects the inclination of the top beam along the strike of the working face. The controller can evaluate the inclination state of the top beam by calculating AH.

[0059] Step 1503, the standard posture includes the front end height H1 being greater than or equal to the rear end height H2, and 0 cm ≤ AH ≤ 5 cm. If the above two conditions are met, the controller considers that the hydraulic support is in a standard posture; otherwise, the posture of the hydraulic support is not standard. In the case that the hydraulic support is in a standard posture, the controller allows the execution of the command to stop the column lifting action. If the posture is not standard, the controller will issue 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.

[0060] The method for pressure compensation of a hydraulic support for a coal mining face according to a preferred embodiment of the present application, after the step of judging whether the hydraulic support is in a standard posture according to the relative parallelism, further comprises:

[0061] Step 1521, in the case of hydraulic support in a non-standard attitude, the top beam is adjusted to return to the standard attitude. Specifically, when the controller determines that the hydraulic support is in a non-standard attitude, it will take appropriate adjustment measures according to the specific attitude deviation to make the top beam return to the standard attitude. The specific adjustment method is as follows:

[0062] When the second axis difference ΔQy<0°, the top beam is in a down attached state. For two-column supports, the controller first issues a command to point down the column to slightly lower the top beam. Then, the controller issues a command to retract the balance cylinder to adjust the top beam. Finally, the controller issues a command to point up the column to compensate for the decrease in support height and column pressure caused by the down column. For four-column supports, the controller first issues a command to point up the front column to raise the front end of the top beam. Then, the controller issues a command to point down the rear column to lower the rear end of the top beam, thereby adjusting the top beam.

[0063] When the second axis difference ΔQy>7°, the top beam is in an upward state. For two-column supports, the controller first issues a command to point down the column to slightly lower the top beam. Then, the controller issues a command to extend the balance cylinder to adjust the top beam. Finally, the controller issues a command to point up the column to compensate for the decrease in support height and column pressure caused by the down column. For four-column supports, the controller issues a command to point up the rear column to raise the rear end of the top beam, thereby adjusting the top beam.

[0064] After adjustment, the controller again detects the front end height H1 and the rear end height H2 of the top beam, calculates the height difference ΔH and the three-axis difference ΔQx, ΔQy, ΔQz. If H1≥H2 and 0cm≤ΔH≤5cm, and 0°≤ΔQy≤7°, it is considered that the top beam has been adjusted to return to the standard attitude, and the adjustment is ended. If it still does not reach the standard attitude, repeat the above adjustment steps until the top beam returns to the standard attitude.

[0065] Through the above steps, the present application can ensure that when the hydraulic support is in a non-standard attitude, the top beam is restored to the standard attitude through accurate adjustment measures, thereby further improving the safety and stability of the coal mining operation. The specific steps are as follows: calculate ΔQy, judge whether the top beam is in a down attached state or an upward state. According to the inclination state of the top beam, take appropriate adjustment measures to make the top beam return to the standard attitude. Again detect the height and inclination angle of the top beam to ensure that the top beam has been adjusted to return to the standard attitude. Through the above steps, the present application can ensure that the hydraulic support always maintains a safe and stable working state during the pressure compensation process.

[0066] The coal mining face hydraulic support system provided by the present application is described below. The coal mining face hydraulic support system described below can be mutually corresponding to the pressure compensation method of the coal mining face hydraulic support described above.

[0067] The application also provides a hydraulic support system for a coal mining face, comprising a hydraulic support device, a controller, and a base, a top beam and a column mechanism. The base and the top beam are preferably respectively provided with three-axis inclination sensors, the front end and the rear end of the top beam are respectively provided with height sensors, and the column mechanism is provided with a column pressure sensor for measuring the hydraulic pressure of the column. The controller is connected to the three-axis inclination sensors, the height sensors and the column pressure sensor. The controller is configured to control the hydraulic support device to perform the pressure compensation method of the hydraulic support for a coal mining face according to the above embodiments.

[0068] 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 falls within a preset pressure compensation range.

[0069] During the pressure compensation process, the controller continuously detects the front end height H1 and the rear end height H2 of the support through the height sensors, and obtains the height data of the adjacent support adjacent to the support through a communication network, to determine whether the height of the support reaches a set height and whether the difference between the height of the support and the height of the adjacent support exceeds a preset value. When the column support pressure does not reach the target pressure, the height of the support does not reach the set height, and the difference between the height of the support and the height of the adjacent support is within the allowable range, the controller controls the hydraulic system to perform a column lifting action to increase the column support pressure.

[0070] During the column lifting process, the controller continuously monitors the column support pressure and the support height, and stops the column lifting action when the column support pressure reaches the target pressure or the height of the support reaches the set height, or the height of the support is greater than the height of the adjacent support. Subsequently, the controller detects the inclination angles of the base and the top beam through the three-axis inclination sensors, calculates the three-axis relative differences AQx, AQy and AQz of the base and the top beam, and the height difference AH of the front end and the rear end of the top beam.

[0071] The definition of the standard posture is that the front end of the top beam is slightly higher than the rear end of the top beam, i.e. H1≥H2 and 0cm≤AH≤5cm, and 0°≤AQy≤7°.

[0072] If the controller determines that the hydraulic support is in a non-standard posture, appropriate adjustment measures are taken according to the specific posture deviation to restore the top beam to the standard posture, for example, adjusting a two-column support through a point-action column lowering, a balance oil cylinder retraction, a point-action column lifting, or adjusting a four-column support through a point-action front column lifting and a point-action rear column lowering. After the adjustment is completed, the controller detects the height and the inclination angle of the top beam again to ensure that the top beam has been adjusted to the standard posture, and if the standard posture has not been reached, the above adjustment steps are repeated until the top beam returns to the standard posture.

[0073] In order to realize the safe support of the hydraulic support of the working face to the roof of the working face, the application combines the multi-sensor fusion technology to propose a new intelligent pressure compensation scheme of the hydraulic support, and ensures that the next moving support posture of the support is in the standard posture under the condition of the effective support of the support.Through the steps, the application can ensure that the hydraulic support always maintains in the safe and stable working state in the pressure compensation process, so as to further improve the safety and stability of the coal mining operation3002

[0074] Through the description of the above embodiments, those skilled in the art can clearly understand that each method embodiment can be realized by means of software and necessary general hardware platform, and of course, can also be realized by hardware. Based on such understanding, the above technical solutions 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 a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method described in each embodiment or some parts of the embodiment.

[0075] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "way", "specific way", or "some ways" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or way are included in at least one embodiment or way of the present embodiment. In the present specification, the illustrative description of the above terms is not necessarily for the same embodiment or way. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate way in one or more embodiments or ways. In addition, the skilled in the art can combine and combine the different embodiments or characteristics of the different embodiments or ways described in the present specification without contradiction.

[0076] Finally, it should be pointed out that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solution deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for pressure compensation of a hydraulic support of a coal face, characterized in that, The method comprises the following steps: determining that the hydraulic support is in an idle state; detecting a column support pressure of the hydraulic support; starting a pressure compensation function when the column support pressure falls within a pressure compensation range, and controlling the hydraulic support to perform a column lifting action; judging whether the column support pressure reaches a target pressure during the column lifting action of the hydraulic support; detecting a base inclination angle of a base relative to a horizontal plane, and detecting a top beam inclination angle of a top beam relative to the horizontal plane; calculating a three-axis relative difference of the base and the top beam according to the base inclination angle and the top beam inclination angle, and determining a relative parallelism of 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; allowing the hydraulic support to stop the column lifting action when the hydraulic support is in the standard posture; stopping the column lifting action when the column support pressure reaches the target pressure. The base inclination angle comprises a base inclination angle Qx1 along a working face, a base pitch angle Qy1 along a working face, and a base rotation angle Qz1 relative to a horizontal plane. The top beam inclination angle comprises a top beam inclination angle Qx2 along a working face, a top beam pitch angle Qy2 along a working face, and a top beam rotation angle Qz2 relative to a horizontal plane. The three-axis relative difference comprises a first-axis difference ΔQx = Qx2 - Qx1, a second-axis difference ΔQy = Qy2 - Qy1, and a third-axis difference ΔQz = Qz2 - Qz1.

2. The method of claim 1, wherein, The standard posture comprises that the first-axis difference ΔQx, the second-axis difference ΔQy, and the third-axis difference ΔQz are all zero when the top beam and the base are relatively parallel. The method further comprises the following steps: detecting a support height of the hydraulic support during the column lifting action of the hydraulic support; judging whether the support height reaches a set height; 3. The method of claim 1, wherein, stopping the column lifting action when the support height reaches the set height. The method further comprises the following steps: detecting a current support height of the hydraulic support and a neighboring support height of a neighboring support adjacent to the hydraulic support during the column lifting action of the hydraulic support; comparing the current support height and the neighboring support height; 4. The method of claim 1, wherein, stopping the column lifting action when the current support height is greater than the neighboring support height. The standard posture comprises 0° ≤ ΔQy ≤ 7°. The method further comprises the following steps after the step of calculating the three-axis relative difference of the base and the top beam: determining an inclination state of the top beam according to the second-axis difference ΔQy; the top beam is in a downward state when the second-axis difference ΔQy is less than 0°; 5. The method of claim 1, wherein, the top beam is in an upward state when the second-axis difference ΔQy is greater than 7°. The step of detecting the relative parallelism of the top beam and the base of the hydraulic support comprises the following steps: detecting a front end height H1 and a rear end height H2 of the top beam; calculating a height difference ΔH = H1 - H2 of the front end height H1 and the rear end height H2; The standard posture comprises that the front end height H1 is greater than or equal to the rear end height H2, and 0 cm ≤ ΔH ≤ 5 cm.

6. The method of claim 1, wherein, The step of judging whether the hydraulic support is in the standard posture according to the relative parallelism further comprises: In the case that the hydraulic support is in the non-standard posture, the top beam is controlled to adjust back to the standard posture.

7. A hydraulic powered support system for a coal face, characterised in that, Comprise: The hydraulic support device comprises a base, a top beam and a stand column mechanism, three-axis inclination sensors are respectively arranged on the base and the top beam, height measuring sensors are respectively arranged at the front end and the rear end of the top beam, and a stand column pressure sensor for measuring the hydraulic pressure of the stand column is arranged on the stand column mechanism; A controller is connected to the three-axis inclination sensors, the height measuring sensors and the stand column pressure sensor, and the controller is configured to control the hydraulic support device to perform the pressure compensation method of the coal mining face hydraulic support according to any one of claims 1 to 6.

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