Automatic machine following control method and system for fully-mechanized coal mining support

Abstract

The invention provides an automatic machine-following control method and system for a fully-mechanized coal mining support, and relates to the technical field of fully-mechanized coal mining equipment control. In the process of machine-following operation of the hydraulic support, action parameters of the hydraulic support and liquid supply parameters of an emulsion pump station are obtained in real time; according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station, the liquid supply demand flow of the emulsion pump station at the future moment is predicted, and the action quality of the hydraulic support is evaluated; and the liquid supply flow of the emulsion pump station and the action scheme of the hydraulic support are adjusted according to the evaluation result of the liquid supply demand flow of the emulsion pump station and / or the action quality at the future moment. The real-time liquid supply flow and pressure of the emulsion pump station can be automatically adjusted, the hydraulic support following number, the action time sequence, the coal mining machine speed and the scraper conveyor belt speed are adjusted in a self-adaptive mode, and the automatic following speed, the supporting quality and the production efficiency are effectively improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the technical field of fully-mechanized mining equipment control. Specifically, the present invention relates to a method and system for automatically following a shearer with fully-mechanized mining supports. Background Art

[0002] At present, the fully-mechanized mining equipment group in mine mining has initially realized automatic control. Among them, the application of the electro-hydraulic control system has replaced manual operation, realizing the automatic following of the shearer by hydraulic supports and the automatic adjustment of the cutting speed of the shearer. However, the current intelligent level of fully-mechanized mining is still in the low stage, and its operation effect and production efficiency are affected by many factors such as the complexity of the working face environment, the liquid supply distance, and the operation state of the equipment group. It is impossible to ensure the long-term safe, efficient, and stable operation of the fully-mechanized mining equipment group under various working conditions, and there are still problems such as slow coal mining speed and poor support moving effect.

[0003] At present, the automatic following control strategy of hydraulic supports in fully-mechanized mining faces mainly focuses on logic control. The automatic following system can achieve good operation effects in working environments with good coal seam conditions, while the operation effects are not good under complex coal seam conditions and long-distance liquid supply.

[0004] The existing hydraulic system has long liquid supply pipelines, large fluctuations in the inlet pressure, and a certain back pressure in the return liquid, resulting in poor support and moving effects when multiple hydraulic supports act in groups, and even the situation of losing supports. There is also the situation that the telescopic side guard plate is not timely, which easily causes the shearer to be forced to reduce speed or stop, reducing production efficiency. Summary of the Invention

[0005] In order to solve the problems in the prior art that the operation effect is not good, the following speed is slow, and the production efficiency is low under complex coal seam conditions and long-distance liquid supply, the embodiments of the present invention provide a method and system for automatically following a shearer with fully-mechanized mining supports.

[0006] In view of this, one aspect of the present disclosure provides a method for automatically following a shearer with fully-mechanized mining supports, including:

[0007] During the process of the hydraulic support following the shearer, the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station are obtained in real time, where the action parameters of the hydraulic support include the pressures of the rodless chamber and the rod chamber of the hydraulic support column and the displacement signal of the push jack, and the liquid supply parameters of the emulsion pump station include at least one of the output pressure and the liquid supply flow rate of the emulsion pump station;

[0008] Predict the required liquid supply flow rate of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; and / or, evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station;

[0009] Adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality, wherein the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence.

[0010] In some embodiments, adjusting the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality includes:

[0011] Compare the liquid supply demand flow rate of the emulsion pump station at a future moment with the maximum future output flow rate of the emulsion pump station, wherein the maximum future output flow rate of the emulsion pump station is determined according to the displacement of the emulsion pump station, the number of emulsion pumps in operation, and the maximum motor speed of the emulsion pump station;

[0012] If the liquid supply demand flow rate of the emulsion pump station at the future moment is greater than or equal to the maximum future output flow rate of the emulsion pump station, adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support; if the liquid supply demand flow rate of the emulsion pump station at the future moment is less than or equal to the maximum future output flow rate of the emulsion pump station, control the emulsion pump station to maintain the current liquid supply flow rate.

[0013] In some embodiments, predicting the liquid supply demand flow rate of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station includes:

[0014] Predict the liquid supply demand flow rate of the emulsion pump station at a future moment according to the current action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station by using an intelligent algorithm, and the intelligent algorithm is a long short-term memory neural network or other algorithms.

[0015] In some embodiments, adjusting the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality, wherein the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence, includes:

[0016] Adjust the liquid supply flow rate of the emulsion pump station by adjusting the number and speed of the main pumps operating in the emulsion pump station, wherein the speed of the main pump is adjusted by adjusting a variable frequency motor.

[0017] In some embodiments, evaluating the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station includes:

[0018] If the actual extension length l of the push jack of a single hydraulic support m and the expected extension length l md When the error between the two is less than or equal to a first preset value, it is determined that the shifting is completed;

[0019] If the average actual extension length of the push jack of the group hydraulic support is and the expected extension length l md When the error between the two is less than or equal to a first preset value, it is determined that the shifting is completed;

[0020] If the rodless cavity pressure p of the hydraulic support column is greater than the expected rodless cavity pressure p d , confirm that the column lifting is completed.

[0021] In some embodiments, the liquid supply flow of the emulsion pump station and the action plan of the hydraulic support are adjusted according to the liquid supply demand flow of the emulsion pump station at a future moment and / or the evaluation result of the action quality, wherein the action plan of the hydraulic support includes the number and action sequence of the hydraulic support actions, including:

[0022] If the hydraulic support fails to complete the corresponding action, the action plan of the hydraulic support and the liquid supply flow of the emulsion pump station are adjusted so that the hydraulic support completes the corresponding action within a preset time.

[0023] In some embodiments, the method further comprises:

[0024] Correcting the cutting speed of the coal mining machine according to the adjusted action plan of the hydraulic support, the liquid supply flow rate of the emulsion pump station, and the power limit of the coal mining machine itself;

[0025] If the error between the corrected coal mining machine cutting speed and the expected coal mining machine cutting speed is within a second preset value, the coal mining machine is controlled to cut autonomously; if the error between the corrected coal mining machine cutting speed and the expected coal mining speed exceeds the second preset value, the action plan of the hydraulic support and the liquid supply flow of the emulsion pump station are adjusted according to the corrected coal mining machine cutting speed.

[0026] In some embodiments, the method further comprises:

[0027] Determine the preset time of a single action cycle as a cycle;

[0028] Determine whether the duration of this cycle is greater than or equal to the expected hydraulic support automatic follow-up period of a preset single action; the expected hydraulic support automatic follow-up period of a single action is the sum of the expected column lowering time, the expected frame moving time and the expected column raising time;

[0029] If so, determine the action mode of the hydraulic support group and the working parameters of the emulsion pump station during the next action, evaluate the completion quality of the previous action, and predict the liquid supply parameters required by the emulsion pump station during the next action; if not, control the hydraulic support group, the emulsion pump station and the shearer to operate independently.

[0030] In some embodiments, before controlling the hydraulic support to perform following-the-shearer operation, the method further includes:

[0031] Determine the coal mining technology of the shearer according to the coal seam characteristics;

[0032] Determine the action mode of the hydraulic support following the shearer according to at least one of the coal mining technology of the shearer, the structural parameters of the hydraulic support, and the liquid supply capacity of the emulsion pump station.

[0033] In some embodiments, the coal mining technology includes but is not limited to the cutting curve and the cutting speed of the shearer; determine the belt transmission speed of the scraper conveyor through the cutting speed and the cutting depth of the shearer.

[0034] Another aspect of the present disclosure provides a fully-mechanized mining support automatic following-the-shearer control system, which uses the fully-mechanized mining support automatic following-the-shearer control method described in any one of the above, including:

[0035] Data acquisition module: used to obtain the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station in real time during the process of the hydraulic support following the shearer;

[0036] Analysis module: used to predict the required liquid supply flow rate of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; and / or, evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station;

[0037] Processing module: used to adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the required liquid supply flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality.

[0038] The embodiments of the present disclosure can automatically adjust the real-time liquid supply flow rate and pressure of the emulsion pump station, adaptively adjust the number of hydraulic supports following the shearer, the action timing sequence, the shearer speed, and the belt speed of the scraper conveyor, and effectively improve the automatic following-the-shearer speed, the support quality, and the production efficiency.

[0039] To make the above objects, features, and advantages of the embodiments of the present invention more obvious and understandable, the following specifically enumerates preferred embodiments and, in conjunction with the accompanying drawings, makes the following detailed description. Description of the Drawings

[0040] In the accompanying drawings, which are not necessarily to scale, the same reference numerals may describe similar components in different views. The same reference numerals with alphabetical suffixes or different alphabetical suffixes may represent different instances of similar components. The drawings generally illustrate various embodiments by way of example and not limitation, and are used in conjunction with the description of the specification and the claims to explain the disclosed embodiments. Where appropriate, the same reference numerals are used throughout the drawings to refer to the same or similar parts. Such embodiments are illustrative and are not intended to be an exhaustive or exclusive embodiment of the apparatus or method. The accompanying drawings described herein are used to provide a further understanding of the present invention and form a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0041] Figure 1 It is a schematic flow chart of the automatic following control method for fully-mechanized mining supports provided by the embodiment of the present invention. Detailed implementation manners

[0042] Next, the specific embodiments of the present invention will be described in detail in conjunction with the accompanying drawings, but it is not intended to limit the present invention.

[0043] It should be understood that various modifications can be made to the embodiments disclosed herein. Therefore, the above description should not be regarded as a limitation, but only as an example of the embodiments. Those skilled in the art will think of other modifications within the scope and spirit of the present invention.

[0044] The accompanying drawings included in the specification and forming a part of the specification illustrate embodiments of the present invention, and together with the general description of the present invention given above and the detailed description of the embodiments given below are used to explain the principles of the present invention.

[0045] These and other features of the present invention will become apparent from the following description of the preferred forms of the embodiments given by way of non-limiting examples with reference to the accompanying drawings.

[0046] It should also be understood that although the present invention has been described with reference to some specific examples, those skilled in the art can surely implement many other equivalent forms of the present invention, which have the features as described in the claims and thus are all within the protection scope defined hereby.

[0047] When combined with the accompanying drawings, in view of the following detailed description, the above and other aspects, features and advantages of the present invention will become more apparent.

[0048] Specific embodiments of the present invention will be described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present invention, which can be implemented in various ways. Well-known and / or repetitive functions and structures are not described in detail to avoid obscuring the present invention with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but are merely used as a basis and representative basis for the claims to teach those skilled in the art to use the present invention in substantially any suitable detailed structure in a variety of ways.

[0049] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0050] This specification may use the phrases "in one embodiment", "in another embodiment", "in yet another embodiment" or "in other embodiments", which may each refer to one or more of the same or different embodiments according to the present invention.

[0051] As Figure 1 shown, the first embodiment of the present disclosure provides a fully-mechanized mining support automatic following control method, including the following steps:

[0052] Step S100: During the process of the hydraulic support following the shearer, the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station are obtained in real time;

[0053] Among them, the action parameters of the hydraulic support include the pressures of the rodless cavity and the rod cavity of the hydraulic support columns and the displacement signal of the jack for pushing the support, and the liquid supply parameters of the emulsion pump station include at least one of the output pressure and the liquid supply flow rate of the emulsion pump station;

[0054] Step S200: Predict the liquid supply demand flow rate of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; and / or, evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station;

[0055] Step S300: Adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality, where the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence.

[0056] Further, in the step S300, adjusting the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality, where the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence, includes:

[0057] Compare the liquid supply demand flow rate of the emulsion pump station at a future moment with the maximum future output flow rate of the emulsion pump station, where the maximum future output flow rate of the emulsion pump station is determined in advance according to the liquid supply parameters of the emulsion pump station and the action parameters of the hydraulic support, and the maximum future output flow rate of the emulsion pump station is determined according to the displacement of the emulsion pump station, the number of emulsion pumps in operation, and the maximum motor speed of the emulsion pump station; specifically, according to the action parameters of the current hydraulic support and the liquid supply parameters of the emulsion pump station, use an intelligent algorithm to predict the liquid supply demand flow rate of the emulsion pump station at a future moment;

[0058] If the liquid supply demand flow rate of the emulsion pump station at a future moment is greater than or equal to the maximum future output flow rate of the emulsion pump station, adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support; if the liquid supply demand flow rate of the emulsion pump station at a future moment is less than or equal to the maximum future output flow rate of the emulsion pump station, control the emulsion pump station to maintain the current liquid supply flow rate.

[0059] Further, in the step S300, adjusting the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality, where the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence, includes:

[0060] Adjust the liquid supply flow rate of the emulsion pump station by adjusting the number and speed of the main pumps operating in the emulsion pump station, where the speed of the main pump is adjusted by adjusting the frequency conversion motor.

[0061] In some embodiments, in the step S200, evaluating the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station, includes:

[0062] When the error between the actual extended length and the expected extended length of the push jack of a single hydraulic support is less than or equal to the first preset value, it is determined that the pushing is completed. Preferably, the first preset value is 0.03 m;

[0063] When the error between the average value of the actual extended lengths of the push jacks of a group of hydraulic supports and the expected extended length is less than or equal to the first preset value, it is determined that the pushing is completed;

[0064] When the pressure in the rodless cavity of the hydraulic cylinder of the hydraulic support is greater than the expected pressure in the rodless cavity, it is determined that the lifting of the support is completed;

[0065] If the corresponding action of the hydraulic support is not completed, adjust the action plan of the hydraulic support and the liquid supply flow rate of the emulsion pump station so that the hydraulic support completes the corresponding action within the preset time.

[0066] In some embodiments, the fully-mechanized mining support automatic following control method provided by the present disclosure further includes:

[0067] According to the adjusted action plan of the hydraulic support, the liquid supply flow rate of the emulsion pump station, and the self-power limit of the shearer, correct the cutting speed of the shearer;

[0068] If the error between the corrected cutting speed of the shearer and the expected cutting speed of the shearer is within the second preset value, control the shearer to cut independently; if the error between the corrected cutting speed of the shearer and the expected cutting speed of the shearer exceeds the second preset value, adjust the action plan of the hydraulic support and the liquid supply flow rate of the emulsion pump station according to the corrected cutting speed of the shearer;

[0069] Preferably, the second preset value is 10%.

[0070] In this way, the present disclosure makes the actual cutting speed of the shearer close to the expected cutting speed of the shearer, improving the production efficiency.

[0071] Further, the evaluation formulas for the above-mentioned pushing and lifting actions are as follows:

[0072]

[0073] where l m is the actual extended length of the push jack of a single hydraulic support; l md is the expected extended length; is the average value of the actual extended lengths of the push jacks of a group of hydraulic supports; p is the pressure in the rodless cavity of the hydraulic cylinder of the hydraulic support; p d is the expected pressure in the rodless cavity.

[0074] In this embodiment, in order to reduce the operation burden of the controller, the fully-mechanized mining support automatic following control method further includes:

[0075] The preset time for a single action cycle is set as one cycle period;

[0076] Judge whether the duration t of this cycle is greater than or equal to the expected automatic following cycle t of the hydraulic support for a single action d ;

[0077] If so, determine the action mode of the hydraulic support group and the working parameters of the emulsion pump station during the next action period, evaluate the completion quality of the previous action, and predict the liquid supply parameters required by the emulsion pump station during the next action period; if not, control the hydraulic support group, the emulsion pump station and the shearer to operate independently.

[0078] Specifically, the expected automatic following cycle t of the hydraulic support for a single action d is the sum of the expected lowering time, the expected moving time and the expected raising time;

[0079] t d = L / v;

[0080] L is the center distance between single hydraulic supports, and v is the expected shearer speed.

[0081] Before controlling the hydraulic support to perform following operation, the method further includes:

[0082] Determine the coal mining process of the shearer according to the coal seam characteristics;

[0083] Determine the action mode of the hydraulic support following the shearer according to at least one of the coal mining process of the shearer and the structural parameters of the hydraulic support, whether it is single machine action or group action during the following process, that is, optimize the number and action timing of the hydraulic support actions.

[0084] The coal mining process includes but is not limited to the cutting curve and the shearer cutting speed. The belt transmission speed of the scraper conveyor can also be determined through the shearer cutting speed.

[0085] This embodiment uses a long short-term memory neural network (LSTM) or other intelligent algorithms to online predict the flow rate required by the emulsion pump station at future moments. When the flow rate provided by the emulsion pump station in real time is difficult to ensure the normal operation of the fully-mechanized mining equipment at future moments, it can readjust the number of hydraulic supports, the action timing and the flow rate required by the emulsion pump station in real time, so as to ensure the long-term safe, efficient, stable and smooth operation of the fully-mechanized mining equipment group under various working conditions.

[0086] In this embodiment, by collecting the outlet pressure of the emulsion pump station, the pressures of the rodless chamber and the rod chamber of the hydraulic support columns, and the displacement of the jack in real time, the pushing and supporting quality of the hydraulic support is judged. When the requirements are not met, the number of actions of the hydraulic support, the action timing sequence, and the operating parameters of the emulsion pump station are readjusted, thereby improving the pushing action and supporting quality of the hydraulic support.

[0087] The second embodiment of the present disclosure provides a fully-mechanized mining support automatic following control system, which is implemented by using the above-mentioned fully-mechanized mining support automatic following control method, including:

[0088] Data acquisition module: used to obtain the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station in real time during the process of the hydraulic support following the shearer;

[0089] Analysis module: used to predict the required flow rate of the liquid supply of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; and / or, evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station;

[0090] Processing module: used to adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the required flow rate of the liquid supply of the emulsion pump station at a future moment and / or the evaluation result of the action quality.

[0091] According to a specific embodiment, a flow meter and a pressure sensor are installed at the outlet of the emulsion pump station to obtain the state quantity of the emulsion pump station in real time; pressure sensors are installed in the rodless chamber and the rod chamber of the hydraulic support columns and in the rodless chamber and the rod chamber of the jack to facilitate the acquisition of the pressures of the hydraulic support columns and the jack; a displacement sensor is installed in the jack to collect the actual extended length of the jack to obtain the state of the hydraulic support in real time.

[0092] In this embodiment, when an accident occurs or the coal mining operation is completed, the control unit controls the fully-mechanized mining equipment to stop working, ensuring the safety of the equipment operation.

[0093] The embodiments of the present disclosure can automatically adjust the real-time liquid supply flow rate and pressure of the emulsion pump station, adjust the number of hydraulic supports, the action timing sequence, and the shearer speed, effectively improving the following speed, supporting quality, and production efficiency.

[0094] In the above embodiments of the present invention, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0095] In addition to the above, it should be noted that the "one embodiment", "another embodiment", "embodiment" and the like mentioned in this specification refer to the specific features, structures or characteristics described in connection with the embodiment being included in at least one embodiment generally described in this application. The same expression appearing in multiple places in the specification does not necessarily refer to the same embodiment. Further, when describing a specific feature, structure or characteristic in connection with any embodiment, it is intended that the implementation of such feature, structure or characteristic in combination with other embodiments also fall within the scope of the present invention.

[0096] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For parts not detailed in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

[0097] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. An automatic following shearer control method for fully mechanized mining supports, characterized in that, Including: During the operation of the hydraulic support following the shearer, the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station are obtained in real time. Among them, the action parameters of the hydraulic support include the pressures of the rodless chamber and the rod chamber of the hydraulic support columns and the displacement signal of the push jack, and the liquid supply parameters of the emulsion pump station include at least one of the output pressure and the liquid supply flow rate of the emulsion pump station; Predict the liquid supply demand flow rate of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; and / or evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; Adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality. Among them, the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence.

2. The automatic following shearer control method for fully-mechanized mining support according to claim 1, characterized in that, Adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality, including: Compare the liquid supply demand flow rate of the emulsion pump station at a future moment with the maximum future output flow rate of the emulsion pump station. Among them, the maximum future output flow rate of the emulsion pump station is determined according to the displacement of the emulsion pump station, the number of operating emulsion pumps and the maximum motor speed of the emulsion pump station; If the liquid supply demand flow rate of the emulsion pump station at a future moment is greater than or equal to the maximum future output flow rate of the emulsion pump station, adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support; if the liquid supply demand flow rate of the emulsion pump station at a future moment is less than or equal to the maximum future output flow rate of the emulsion pump station, control the emulsion pump station to maintain the current liquid supply flow rate.

3. The automatic following control method for fully-mechanized mining supports according to claim 1, characterized in that Predict the liquid supply demand flow rate of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station, including: Predict the liquid supply demand flow rate of the emulsion pump station at a future moment by using an intelligent algorithm according to the current action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station.

4. The automatic following shearer control method for fully-mechanized mining supports according to claim 1, characterized in that Evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station, including: If the actual extension length l of the push jack of a single hydraulic support m and the expected extension length l md When the error between them is less than or equal to the first preset value, it is determined that the pushing is completed; If the average value of the actual extended length of the push jacks of a group of hydraulic supports and the expected extended length l md when the error therebetween is less than or equal to a first preset value, it is determined that the pushing is completed; If the pressure p in the rodless chamber of the hydraulic support column is greater than the desired pressure p in the rodless chamber d , it is determined that the column lifting is completed.

5. The automatic following control method for fully-mechanized mining supports according to claim 4, characterized in that, Adjust the liquid supply flow rate of the emulsion pump station and the action plan of the hydraulic support according to the liquid supply demand flow rate of the emulsion pump station at a future moment and / or the evaluation result of the action quality. Among them, the action plan of the hydraulic support includes the number of actions of the hydraulic support and the action timing sequence, including: If the hydraulic support has not completed the corresponding action, adjust the action plan of the hydraulic support and the liquid supply flow rate of the emulsion pump station so that the hydraulic support can complete the corresponding action within a preset time.

6. The automatic coal winning support following shearer control method according to claim 1, wherein The method further includes: Correct the cutting speed of the shearer according to the adjusted action plan of the hydraulic support, the liquid supply flow rate of the emulsion pump station and the self-power limit of the shearer; If the error between the corrected cutting speed of the shearer and the expected cutting speed of the shearer is within the second preset value, control the shearer to cut automatically; if the error between the corrected cutting speed of the shearer and the expected cutting speed exceeds the second preset value, adjust the action plan of the hydraulic support and the liquid supply flow of the emulsion pump station according to the corrected cutting speed of the shearer.

7. The automatic following shearer control method for fully-mechanized mining support according to claim 1, wherein The method further includes: Determine that the preset time of a single action cycle is a cycle period; Judge whether the duration of this cycle is greater than or equal to the expected automatic following cycle of the hydraulic support for a single action; the expected automatic following cycle of the hydraulic support for a single action is the sum of the expected lowering time, the expected moving time, and the expected raising time; If so, determine the action mode of the hydraulic support group and the working parameters of the emulsion pump station during the next action period, evaluate the completion quality of the previous action, and predict the required liquid supply parameters of the emulsion pump station during the next action period; if not, control the hydraulic support group, the emulsion pump station, and the shearer to operate independently.

8. The automatic following shearer control method for fully-mechanized mining support according to claim 1, wherein Before controlling the hydraulic support to perform following operation, the method further includes: Determine the coal mining process of the shearer according to the coal seam characteristics; Determine the following action mode of the hydraulic support according to at least one of the coal mining process of the shearer and the structural parameters of the hydraulic support.

9. The automatic following control method of the fully-mechanized mining support according to claim 8, characterized in that The coal mining process includes but is not limited to the cutting curve and the cutting speed of the shearer; the belt transmission speed of the scraper conveyor is determined by the cutting speed and the cutting depth of the shearer.

10. An automatic coal winning support following shearer control system, characterized in that, Using the automatic following control method of the fully-mechanized mining support according to any one of claims 1-9, including; Data acquisition module: used to obtain the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station in real time during the following operation of the hydraulic support; Analysis module: used to predict the required liquid supply flow of the emulsion pump station at a future moment according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; And / or, evaluate the action quality of the hydraulic support according to the action parameters of the hydraulic support and the liquid supply parameters of the emulsion pump station; Processing module: used to adjust the liquid supply flow of the emulsion pump station and the action plan of the hydraulic support according to the required liquid supply flow of the emulsion pump station at a future moment and / or the evaluation result of the action quality.

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