Transition hydraulic support control method, electronic device and control system

Abstract

This invention discloses a transition hydraulic support control method, electronic equipment, and control system. The transition hydraulic support control method includes a top coal caving process, which involves acquiring a top coal caving signal; adjusting the coal caving device of the transition hydraulic support to retract to a preset posture to form a coal caving window and caving coal; collecting the acoustic characteristic spectrum of the top coal collapse; performing time-domain analysis of the vibration signal based on the acoustic characteristic spectrum to obtain data information; determining whether the gangue content in the top coal exceeds a preset value based on the data information; if so, and the duration exceeds a first preset time, issuing a termination command for coal caving; and controlling the coal caving device to extend and close the coal caving window. This invention, based on the frequency and amplitude differences of the impact vibrations generated on the transition hydraulic support by falling coal and gangue, combined with algorithm analysis, can dynamically distinguish the state of coal and gangue, thereby accurately determining the timing of coal caving termination, preventing excessive gangue caving, and effectively improving the extraction rate and coal quality.

Description

Technical Field

[0001] This invention belongs to the field of hydraulic support technology, and specifically relates to a transition hydraulic support control method, electronic equipment and control system. Background Technology

[0002] Ultra-high fully mechanized longwall faces are gradually being applied to the mining of extra-thick coal seams. Especially under mining heights of 7 meters or more, the recovery rate of top coal in the transition section is generally less than 60%, resulting in a waste of a large amount of high-quality coal resources. During the top coal caving process, the content of gangue in the coal is difficult to control effectively, and excessive gangue mixing leads to a decline in coal quality.

[0003] The relevant technologies mainly rely on infrared detection in the coal and gangue identification stage, with a false judgment rate as high as 25%, making it difficult to achieve precise coal discharge control. During the coal discharge process, the hydraulic supports lack real-time sensing means for key parameters of coal and gangue flow identification, and rely more on manual experience for judgment, resulting in a high gangue mixing rate (generally exceeding 15%) during the coal discharge process, and a long lag time in the adjustment of the hydraulic support's support posture. Summary of the Invention

[0004] The present invention aims to at least partially solve one of the technical problems in the related art.

[0005] Therefore, embodiments of the present invention propose a transitional hydraulic support control method that provides accurate gangue monitoring and fast attitude adjustment response of the coal discharge device.

[0006] An embodiment of the present invention also proposes an electronic device.

[0007] An embodiment of the present invention also proposes a control system.

[0008] The transition hydraulic support control method of this invention includes a top coal caving process, wherein the top coal caving process includes:

[0009] Obtain the top coal caving signal;

[0010] Based on the top coal release signal, the coal release device of the transition hydraulic support is adjusted to retract to a preset posture to form a coal release window and release coal.

[0011] Acoustic wave characteristic spectrum of top coal caving is collected, and time-domain analysis of vibration signal is performed based on the acoustic wave characteristic spectrum to obtain data information;

[0012] Based on the data information, determine whether the gangue content in the top coal exceeds a preset value;

[0013] If so, and the duration of the data reflecting that the gangue content exceeds the preset value exceeds the first preset time, then a command to terminate coal release will be issued;

[0014] Based on the command to terminate coal discharge, the coal discharge device is controlled to extend and close the coal discharge window.

[0015] The transition hydraulic support control method of this invention senses the coal and gangue flow state during coal discharge by real-time monitoring of the vibration signal of the transition hydraulic support. Based on the differences in frequency and amplitude of the impact vibrations generated on the transition hydraulic support by falling coal and gangue (coal impacts exhibit low frequency and low amplitude characteristics, while gangue impacts exhibit high frequency and high amplitude characteristics), combined with algorithm analysis, the coal and gangue state can be dynamically distinguished, and the timing of coal discharge termination can be accurately determined accordingly. This prevents excessive gangue discharge from causing hydraulic support instability and coal quality degradation, achieving intelligent coal discharge and effectively improving extraction rate and coal quality.

[0016] In some embodiments, the step of adjusting the coal discharge device of the transition hydraulic support to retract to a preset posture to form a coal discharge window and discharge coal includes:

[0017] Adjust the coal discharge device of the transition hydraulic support to retract to the first preset posture so that the opening of the coal discharge window is less than or equal to the first opening threshold.

[0018] Repeat the previous step and discharge coal multiple times at the preset frequency;

[0019] The coal discharge device of the transition hydraulic support is adjusted to retract to a second preset posture to adjust the opening of the coal discharge window to a second opening threshold for continuous coal discharge operation, wherein the second opening threshold is greater than the first opening threshold.

[0020] In some embodiments, the step of adjusting the coal discharge device of the transition hydraulic support to retract to a second preset posture to adjust the opening of the coal discharge window to a second opening threshold includes:

[0021] A three-dimensional dynamic model is constructed based on the transition hydraulic support and the rear scraper conveyor below the coal discharge window;

[0022] The transition hydraulic support and the three-dimensional spatial dynamic model move synchronously. Based on the movement of the three-dimensional spatial dynamic model, it is determined whether the coal discharge device interferes with the rear scraper conveyor.

[0023] If so, then the coal discharge device of the transition hydraulic support shall be stopped from continuing to operate;

[0024] If not, the coal discharge device of the transition hydraulic support is driven to retract until the opening of the coal discharge window reaches the second opening threshold.

[0025] In some embodiments, the step of acquiring the acoustic characteristic spectrum of the top coal caving and performing time-domain analysis of the vibration signal based on the acoustic characteristic spectrum to obtain data information includes:

[0026] Vibration monitoring components are arranged on the coal discharge device to collect the acoustic wave characteristic spectrum of top coal collapse during the coal discharge process;

[0027] Time-domain analysis of the vibration signal is performed on the characteristic spectrum of the sound wave to classify vibration signals of different frequencies;

[0028] Acquire data information within multiple frequency ranges;

[0029] The data information includes the proportion of vibration signals in different frequency ranges.

[0030] In some embodiments, the data information includes the proportion of low-frequency vibration signals with a frequency less than or equal to a first frequency threshold and the proportion of high-frequency vibration signals with a frequency greater than the first frequency threshold.

[0031] When the proportion of the high-frequency vibration signal is greater than the first proportional threshold, it is determined that the gangue content in the top coal exceeds the preset value.

[0032] In some embodiments, when adjusting the attitude of the coal discharge device in the transition hydraulic support, the motion parameters and position parameters of the coal discharge device are obtained by stroke monitoring components, position monitoring components, and angle monitoring components arranged on the transition hydraulic support, and the attitude of the coal discharge device is adjusted based on the motion parameters and the position parameters.

[0033] And / or, visual information at the coal discharge window is acquired by a camera monitoring component arranged on the transition hydraulic support, and the attitude of the coal discharge device is adjusted based on the visual information.

[0034] And / or, dust concentration parameters are acquired by dust monitoring components arranged on the transition hydraulic support, and the spray system of the transition hydraulic support is controlled based on the dust concentration parameters.

[0035] And / or, hydraulic parameters are acquired by pressure monitoring components arranged on the transition hydraulic support, and the support strength of the transition hydraulic support for the top plate is adjusted based on the hydraulic parameters.

[0036] In some embodiments, the transition hydraulic support control method further includes a coal mining process, the coal mining process comprising:

[0037] The positions of the coal mining machine and the transition hydraulic support are obtained, and it is determined whether the distance between the coal mining machine and the transition hydraulic support is less than or equal to a first distance threshold.

[0038] If so, then the protective device of the transition hydraulic support shall be recovered;

[0039] The relative position information between the coal mining machine and the transition hydraulic support is acquired in real time, and the support posture of the transition hydraulic support is adjusted so that the transition hydraulic support is outside the working range of the coal mining machine.

[0040] Obtain the pressure information between the transition hydraulic support and the roof plate, and adjust the support strength of the transition hydraulic support for the roof plate based on the pressure information.

[0041] In some embodiments, the transition hydraulic support control method further includes a support shifting process, the support shifting process comprising:

[0042] The position of the coal mining machine is obtained, and it is determined whether the distance between the coal mining machine and the transition hydraulic support is greater than a second distance threshold.

[0043] If so, then activate the delayed support mode;

[0044] The push-pull device of the transition hydraulic support is connected to the front scraper conveyor, and the push-pull device is controlled to push the front scraper conveyor to move away from the transition hydraulic support.

[0045] The top beam of the transition hydraulic support is lowered to reduce the pressure between the top beam and the top plate to a first preset pressure.

[0046] Obtain the inclination angle between the base of the transition hydraulic support and the ground, determine the extension and retraction amount of the lifting jack of the transition hydraulic support, and drive the lifting jack to adjust the base of the transition hydraulic support.

[0047] Control the push-pull device to pull the transition hydraulic support toward the direction of the front scraper conveyor;

[0048] Control the bottom lifting jack to reset and drive the top beam to rise so that the pressure between the top beam and the top plate reaches the second preset pressure;

[0049] The protective device of the transition hydraulic support is deployed to complete the support of the top coal.

[0050] The electronic device of this invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the transition hydraulic support control method described in any of the above embodiments.

[0051] The control system of this invention is used to implement the transition hydraulic support control method described in any of the above embodiments, the control system comprising:

[0052] The monitoring device includes at least one or more of the following: vibration monitoring component, stroke monitoring component, position monitoring component, angle monitoring component, camera monitoring component, dust monitoring component, and pressure monitoring component; the monitoring device is used to acquire monitoring signals.

[0053] A data storage module is used to record the operating parameters of the transition hydraulic support;

[0054] The program editing module is used to preset the control logic of the transition hydraulic support;

[0055] Human-computer interaction module, which provides an operation interface and displays status;

[0056] The fault diagnosis module is used to analyze abnormal monitoring signals and issue early warnings.

[0057] A central processing unit (CPU) is used to receive the monitoring signals and coordinate the operation of each module.

[0058] A digital twin platform, connected to the central processing unit, is used to construct a digital model of the transition hydraulic support. Attached Figure Description

[0059] Figure 1 This is a flowchart of the top coal caving process in the transition hydraulic support control method of this invention.

[0060] Figure 2 This is a flowchart of the coal mining process in the transition hydraulic support control method of this invention.

[0061] Figure 3 This is a flowchart of the support shifting process in the transition hydraulic support control method of this invention.

[0062] Figure 4 This is a schematic diagram of the transition hydraulic support used in the transition hydraulic support control method of this invention.

[0063] Figure 5 This is a schematic diagram from another perspective of the transition hydraulic support used in the transition hydraulic support control method of this invention.

[0064] Figure 6 This is a schematic diagram of the transition hydraulic support in its initial normal support state in an embodiment of the present invention.

[0065] Figure 7 This is a schematic diagram of the coal cutting state of the transition hydraulic support after the side protection device is retracted in an embodiment of the present invention.

[0066] Figure 8This is a schematic diagram of the state after the transition hydraulic support pushes the front scraper conveyor forward in an embodiment of the present invention.

[0067] Figure 9 This is a schematic diagram of the state after the transition hydraulic support has been lowered and the base has been leveled in an embodiment of the present invention.

[0068] Figure 10 This is a schematic diagram of the state of the transition hydraulic support being pulled forward in an embodiment of the present invention.

[0069] Figure 11 This is a schematic diagram of the coal discharge device of the transition hydraulic support in the coal discharge state according to an embodiment of the present invention.

[0070] Figure 12 This is a schematic diagram of the forward-pulling and backward-scraper conveyor in an embodiment of the present invention.

[0071] Figure label:

[0072] 100. Transition hydraulic support; 200. Front scraper conveyor; 300. Rear scraper conveyor; 400. Coal mining machine;

[0073] 1. Base; 11. Pull-back sliding device;

[0074] 2. Columns;

[0075] 3. Top beam;

[0076] 4. Coal feeding device; 41. Swing beam; 42. Tail beam; 43. Insert plate; 44. Swing beam jack; 45. Tail beam jack; 46. Insert plate jack;

[0077] 5. Side protection device; 51. Telescopic beam; 52. Side protection plate; 53. Telescopic jack; 54. Side protection jack;

[0078] 6. Push-pull device;

[0079] 7. Lift the bottom jack. Detailed Implementation

[0080] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0081] See Figures 1 to 12 The following describes the control method of the transition hydraulic support 100 according to an embodiment of the present invention.

[0082] See Figure 1 A control method for a transitional hydraulic support 100 includes a top coal caving process, which includes:

[0083] S101, Obtain the top coal caving signal.

[0084] The transition hydraulic support 100 can be activated by the central processing unit of the control system, thereby controlling the operation of the coal discharge device 4 of the transition hydraulic support 100 to open the coal discharge window.

[0085] S102. Based on the top coal caving signal, adjust the coal caving device 4 of the transition hydraulic support 100 to retract to the preset posture to form a coal caving window and caving coal.

[0086] See Figure 4 and Figure 5 In this embodiment, the coal discharge device 4 of the transition hydraulic support 100 includes a swing beam 41, a tail beam 42 and a plate 43. The swing beam 41 is pivotally connected to the rear end of the top beam 3 of the transition hydraulic support 100. A swing beam jack 44 connects the swing beam 41 and the base 1. The swing beam jack 44 can drive the swing beam 41 to swing relative to the top beam 3.

[0087] The tail beam 42 is rotatably connected to the swing beam 41, and a tail beam jack 45 is connected between the tail beam 42 and the swing beam 41. The tail beam jack 45 can drive the tail beam 42 to swing relative to the swing beam 41.

[0088] The insert plate 43 is connected to the sliding cavity of the tail beam 42. The insert plate 43 extends or retracts relative to the tail beam 42. An insert plate jack 46 is connected between the insert plate 43 and the tail beam 42. The insert plate jack 46 can drive the insert plate 43 to move telescopically relative to the tail beam 42.

[0089] In this embodiment, a trapezoidal coal discharge window is formed through multi-level linkage and coordinated control of the swing beam 41, tail beam 42 and insert plate 43, which effectively increases the unfolded area of ​​the coal discharge window and solves the problem of top coal recovery in the transition section of the fully mechanized longwall face.

[0090] During operation, the hydraulic system of the transition hydraulic support 100 drives the sequential expansion or contraction of each stage of components. The expansion and contraction range is large, and the pitch and swing flexibility is high. It can not only provide full protection for the key components of the rear scraper conveyor 300, but also realize the directional collapse and efficient recovery of top coal. It provides a breakthrough solution for the industry and achieves an effective balance between expansion space and protection range.

[0091] In this embodiment of the invention, the swing angle of the swing beam 41 relative to the top beam 3 is 0 to 30 degrees, and the swing angle of the tail beam 42 relative to the swing beam 41 is 0 to 25 degrees. When adjusting the attitude of the coal discharge device 4, the adjustment range is larger, and the attitude matches the rear scraper conveyor 300 better. This enables coal discharge in the transition section and improves the coal discharge rate in the transition section, thereby achieving directional caving and efficient recovery of top coal.

[0092] After receiving the coal discharge signal, the electro-hydraulic proportional control valve group of the hydraulic system drives the swing beam jack 44, tail beam jack 45 and slide plate jack 46 to work together, so that the coal discharge device 4 composed of swing beam 41, tail beam 42 and slide plate 43 works in coordination to form a coal discharge window with a large opening area.

[0093] S103. Collect the acoustic characteristic spectrum of the top coal collapse, and perform time-domain analysis of the vibration signal based on the acoustic characteristic spectrum to obtain data information.

[0094] Specifically, a vibration monitoring component can be installed on the coal feeding device 4. The vibration monitoring component can collect the acoustic characteristic spectrum of the top coal collapse during the coal feeding process in real time.

[0095] Since the frequency and amplitude of coal and gangue differ when impacting the coal discharge device 4, this embodiment of the invention can perform time-domain analysis of the vibration signal based on the characteristic spectrum of the sound wave to classify vibration signals of different frequencies.

[0096] Data information is acquired across multiple frequency ranges, including the proportion of vibration signals in different frequency ranges. For example, the data information includes the proportion of low-frequency vibration signals with frequencies less than or equal to a first frequency threshold and the proportion of high-frequency vibration signals with frequencies greater than the first frequency threshold. The first frequency threshold can be adjusted according to coal quality requirements; for example, the first frequency threshold can be between 700Hz and 850Hz, and in this embodiment, the first frequency threshold can be 800Hz.

[0097] The vibration monitoring component can be a vibration sensor. Its working principle is based on the difference in impact frequency and amplitude generated by the falling coal and gangue on the transition hydraulic support 100 (coal impact exhibits low frequency and low amplitude characteristics, while gangue impact exhibits high frequency and high amplitude characteristics). Combined with algorithm analysis, the state of coal and gangue can be dynamically distinguished. The vibration sensor can accurately determine the timing of coal discharge termination, preventing excessive gangue discharge from causing instability of the transition hydraulic support 100 and a decline in coal quality. At the same time, through data linkage control, the opening and closing of the coal discharge device 4 is controlled to achieve intelligent coal discharge, effectively improving the extraction rate and coal quality.

[0098] S104. Based on data information, determine whether the gangue content in the top coal exceeds the preset value.

[0099] The higher the proportion of high-frequency vibration signals (frequency greater than 800Hz), the higher the gangue content. Therefore, when the proportion of high-frequency vibration signals exceeds a first proportional threshold, it is determined that the gangue content in the top coal exceeds a preset value. In other words, by determining the proportion of low-frequency vibration signals (frequency less than or equal to 800Hz) and the proportion of high-frequency vibration signals (frequency greater than 800Hz), it is possible to determine in real time whether the gangue content in the top coal exceeds a preset value.

[0100] The first percentage threshold can be determined based on coal quality requirements. For example, the first percentage threshold can be 5%, 10%, 11%, 15% or greater.

[0101] This embodiment, based on time-domain analysis of vibration signals, can identify the coal-gangue mixing ratio with high accuracy and better timeliness, offering higher reliability compared to infrared detection in related technologies. This embodiment can be used in conjunction with infrared detection for mutual verification, thereby further improving the coal-gangue identification effect.

[0102] S105. If so, and the duration of the data information reflecting that the gangue content exceeds the preset value exceeds the first preset time, then a coal release termination command is issued. The first preset time is 2 to 6 seconds. For example, the first preset time can be 2 seconds, 3 seconds, 5 seconds, or 6 seconds, which can improve the anti-interference ability and make the issued coal release termination command more accurate and reliable.

[0103] S106. Based on the command to terminate coal discharge, control the coal discharge device 4 to extend and close the coal discharge window.

[0104] After coal discharge is completed, the electro-hydraulic control valve group reverses the liquid supply to make the swing beam jack 44 and tail beam jack 45 extend synchronously, and the insert plate jack 46 advances rapidly, so that the displacement of the insert plate 43 reaches the designed blocking position (±5mm error range), forming a mechanical gangue barrier and stopping coal discharge.

[0105] After the coal discharge is completed, the rear scraper conveyor 300 can be pulled forward by the pull-back device 11, so that the rear scraper conveyor 300 can follow forward.

[0106] In some embodiments, step S102, the step of adjusting the coal discharge device 4 of the transition hydraulic support 100 to retract to a preset posture to form a coal discharge window and discharge coal, includes:

[0107] The coal discharge device 4 of the transition hydraulic support 100 is adjusted to retract to the first preset posture so that the opening of the coal discharge window is less than or equal to the first opening threshold. This step is repeated, and the extension and retraction of the insert plate of the coal discharge device 4 is controlled to discharge coal multiple times at a preset frequency. This embodiment can achieve high-frequency, low-flow coal discharge in the initial stage of coal discharge. During this process, the acoustic spectrum characteristics are collected, and the coal discharge flow rate and coal and gangue conditions of the coal discharge window can be observed. At the same time, the relative position between the coal discharge window and the rear scraper conveyor 300 can also be observed to ensure the stable operation of the coal discharge process.

[0108] During this process, the support performance of the transition hydraulic support 100 can also be monitored to ensure the stability of the support during the coal discharge process, and to avoid the support stability of the hydraulic support being affected by an excessively large coal discharge window.

[0109] During the middle stage of coal discharge, the coal discharge device 4 of the adjusting transition hydraulic support 100 retracts to the second preset posture to adjust the opening of the coal discharge window to the second opening threshold for continuous coal discharge operation, wherein the second opening threshold is greater than the first opening threshold.

[0110] In this embodiment, the second opening threshold can be the maximum opening of the coal discharge window. That is, during the middle of coal discharge, the opening of the coal discharge window is increased until it is adjusted to the maximum opening, so as to realize continuous coal discharge operation with a large flow rate and improve the efficiency of coal discharge.

[0111] Further, the step of adjusting the coal discharge device 4 of the transition hydraulic support 100 to retract to the second preset posture to adjust the opening of the coal discharge window to the second opening threshold includes:

[0112] A three-dimensional dynamic model is constructed based on the transition hydraulic support 100 and the rear scraper conveyor 300 below the coal discharge window.

[0113] The transition hydraulic support 100 and the three-dimensional dynamic model move synchronously. Based on the movement of the three-dimensional dynamic model, it is determined whether there is interference between the coal discharge device 4 and the rear scraper conveyor 300, especially whether there is interference between the power components of the coal discharge device 4 and the rear scraper conveyor 300. The movement of the three-dimensional dynamic model can more accurately obtain the relative position of the transition hydraulic support 100 and the rear scraper conveyor 300, so as to promptly detect any problems and avoid equipment interference during actual operation.

[0114] If so, the coal discharge device 4 of the transition hydraulic support 100 will stop operating, thereby avoiding interference between the coal discharge device 4 of the transition hydraulic support 100 and the rear scraper conveyor 300, improving the stability of the equipment, and ensuring the smooth and stable operation of the coal discharge process.

[0115] If not, the coal discharge device 4 of the drive transition hydraulic support 100 will retract until the opening of the coal discharge window reaches the second opening threshold.

[0116] In some embodiments, when adjusting the attitude of the coal discharge device 4 in the transition hydraulic support 100, the motion parameters and position parameters of each component in the coal discharge device 4 are obtained by the stroke monitoring component, position monitoring component and angle monitoring component arranged on the transition hydraulic support 100, and the attitude of the coal discharge device 4 is adjusted based on the motion parameters and position parameters.

[0117] The camera monitoring component arranged on the transition hydraulic support 100 acquires visual information at the coal discharge window, and adjusts the attitude of the coal discharge device 4 based on the visual information.

[0118] Dust concentration parameters are obtained by dust monitoring components arranged on the transition hydraulic support 100, and the spray system of the transition hydraulic support 100 is controlled based on the dust concentration parameters.

[0119] Hydraulic parameters are obtained by pressure monitoring components arranged on the transition hydraulic support 100, and the support strength of the transition hydraulic support 100 to the top plate is adjusted based on the hydraulic parameters.

[0120] In this embodiment, stroke monitoring components, position monitoring components, angle monitoring components, camera monitoring components, dust monitoring components, and pressure monitoring components can also be arranged on the transition hydraulic support 100. Each monitoring component can use a corresponding sensor to collect data.

[0121] The stroke monitoring component is connected to each column 2 and each jack in the transition hydraulic support 100 to monitor the stroke of the corresponding column 2 or jack. The stroke monitoring component can be a built-in structure, such as using a built-in stroke sensor. The stroke sensor can use the principles of magnetostriction or wire coding to measure the stroke by detecting the piston rod displacement in real time. Its structure mainly consists of a sensing element (such as a magnetic ring, waveguide, or encoder), a signal conversion module, and a protective housing. The magnetostrictive type uses the electromagnetic induction of the magnetic ring and waveguide to generate a pulse signal, while the wire type records the amount of wire extension and retraction through an encoder. The sensor is embedded in the jack cylinder or piston rod cavity, has high pressure resistance, shock resistance, and IP67 protection rating, outputs 4-20mA or CAN bus signals, and accurately feeds back the stroke of the column 2 and each jack in the transition hydraulic support (accuracy ±1mm), providing closed-loop control basis for the control system and ensuring real-time stroke feedback.

[0122] The coal discharge device 4 of this invention can adapt to the coal discharge control strategy. Based on the coal flow thickness prediction model of the stroke sensor, it dynamically adjusts the extension speed of the insert plate 43 (adjustable from 0.1 to 0.5 m / s), so that the top coal recovery rate can be increased from 30% to more than 85%, and it is particularly adaptable to 10-15 meter coal seams.

[0123] Multiple angle monitoring components are connected to the base 1, top beam 3, swing beam 41, tail beam 42, column 2, and side guard plate 52 of the transition hydraulic support 100 to monitor the attitude of the transition hydraulic support 100. The angle monitoring components are tilt sensors, which are used to monitor the attitude angle of the transition hydraulic support 100 in real time. Their working principle involves sensing the attitude changes of different components of the transition hydraulic support 100 during coal mining through built-in MEMS or electrolyte sensing elements. The tilt signals are converted into electrical signals and transmitted to the control system to ensure that the transition hydraulic support 100 maintains a stable attitude during top coal caving, preventing imbalance of the support structure or roof collapse due to excessive tilting. Simultaneously, feedback is provided to the electro-hydraulic control system to achieve automatic leveling, ensuring safe and efficient mining of the working face.

[0124] The position monitoring component can be connected to the side guard plate 52 and the top beam 3 to monitor the distance between the coal mining machine 400 and the side guard plate 52. It can also be connected to the coal discharge device 4 to detect the distance between the coal discharge device 4 and the rear scraper conveyor 300. The position monitoring component is a position sensor. The position sensor works based on ultrasonic, infrared, or laser ranging technology. It emits signals and receives reflected waves to calculate the distance between the two components. When the distance approaches a safety threshold, it triggers an alarm or automatically controls the hydraulic system to adjust the position of the transition hydraulic support 100, preventing collisions between the coal mining machine 400 and the side guard plate 52 of the transition hydraulic support 100, or preventing collisions between the coal discharge device 4 and the rear scraper conveyor 300. The position sensor ensures the safety and efficiency of the coordinated operation of the fully mechanized mining face equipment, avoids equipment damage or production interruptions caused by mechanical interference, and improves the accuracy of the automated top coal caving process.

[0125] The position sensor of this invention can realize anti-collision warning for coal mining machine 400 with a response time of <50ms, which can achieve dual protection for personnel and equipment and reduce the accident rate by 90%.

[0126] The dust monitoring component is connected below the swing beam 41 or at the front end of the top beam 3 to monitor dust concentration. The dust monitoring component is a dust sensor, which can monitor the dust concentration generated during coal mining in real time. Its working principle primarily employs light scattering or beta-ray absorption technology. When dust particles pass through the detection area, the sensor calculates the dust concentration by analyzing light intensity attenuation or radiation changes and feeds the data back to the control system. Its main function is to ensure working face safety by triggering the spray system or alarm when the dust concentration exceeds the limit, effectively preventing the risk of coal dust explosions, while also improving the working environment and reducing the harm of pneumoconiosis to miners.

[0127] This embodiment can realize a closed-loop spray dust suppression mechanism. The dust sensor and the spray system form a PID control closed loop. When the dust concentration exceeds 100 milligrams per cubic meter, multi-stage spraying is automatically triggered, and the dust suppression efficiency reaches 92% (70% for traditional systems). At the same time, water consumption is reduced by 30%, effectively suppressing the risk of coal dust explosion.

[0128] Multiple camera monitoring components are connected to the front and rear of the transition hydraulic support 100 to monitor the coal cutting status at the front end, the top coal collapse status at the rear end, and the coal flow status during coal discharge. The camera monitoring components use high-definition cameras, which can be installed at various locations such as the front end of the top beam 3 and below the swing beam 41 of the transition hydraulic support 100. Their working principle is to use high-definition image acquisition and transmission technology to feed real-time images back to the control system or remote monitoring platform, assisting operators in accurately judging the timing of coal discharge and adjusting the posture of the transition hydraulic support 100 to ensure safe and efficient recovery of top coal, while reducing the mixing of gangue and improving mining efficiency and safety.

[0129] The pressure monitoring component is connected to the inlet and / or return lines of the column 2 and each jack to monitor the liquid pressure within the lines, thereby reflecting the magnitude of the load exerted by the roof on the roof beam 3. The pressure monitoring component is a pressure sensor that monitors changes in liquid pressure within the jacks in real time, converting the pressure signal into an electrical signal and transmitting it to the control system of the transition hydraulic support 100. Its working principle is based on the piezoresistive or piezoelectric effect; when hydraulic pressure acts on the sensor's sensitive element, the internal resistance or voltage changes accordingly, and after circuit processing, a standard signal is output. The main function of this pressure sensor is to provide real-time feedback on the support force status of the transition hydraulic support 100, ensuring that the support strength meets the roof pressure requirements, preventing overload or underpressure, and simultaneously providing data support to the control system to achieve automatic balancing and safety early warning of the transition hydraulic support 100, ensuring the stability and safety of the roof support in the fully mechanized mining face.

[0130] This embodiment achieves closed-loop control of support, coal discharge, and dust control through multi-source information fusion, meeting the high safety and efficiency requirements of intelligent mining of extra-thick coal seams. This embodiment directly embeds coal and gangue identification signals into the hydraulic support control closed loop, achieving adaptive adjustment of the coal discharge speed through millisecond-level linkage between vibration spectrum characteristics and jack movements.

[0131] See Figure 2 In some embodiments, the transition hydraulic support 100 control method further includes a coal mining process, which includes:

[0132] S201. Obtain the positions of the coal mining machine 400 and the transition hydraulic support 100, and determine whether the distance between the coal mining machine 400 and the transition hydraulic support 100 is less than or equal to the first distance threshold.

[0133] S202. If so, then the protective device 5 of the transition hydraulic support 100 is recovered.

[0134] See Figure 4 and Figure 5 The side protection device 5 includes a side protection plate 52 and a telescopic beam 51. The telescopic beam 51 is connected to the front end of the top beam 3. A telescopic jack 53 is provided between the telescopic beam 51 and the top beam 3. The telescopic jack 53 is used to drive the telescopic beam 51 to move telescopically relative to the top beam 3. The side protection plate 52 is pivotally connected to the telescopic beam 51. A side protection jack 54 is provided between the side protection plate 52 and the telescopic beam 51. The side protection jack 54 is used to drive the side protection plate 52 to swing relative to the telescopic beam 51.

[0135] The composite telescopic structure of the telescopic beam 51 and the side protection plate 52 in the side protection device 5 (with a stroke of up to 1.5 meters) increases the adaptability of the transition hydraulic support 100 to changes in coal seam thickness (5-12 meters) by 3 times.

[0136] When the side protection device 5 is retracted, the telescopic jack 53 retracts, and the telescopic beam 51 can retract into the top beam 3. When the side protection jack 54 retracts, the side protection plate 52 can be stacked on the underside of the top beam 3, thereby reserving sufficient space in front of the top beam 3 for the coal mining machine 400 to carry out coal cutting operations.

[0137] S203. Real-time acquisition of the relative position information between the coal mining machine 400 and the transition hydraulic support 100, and adjustment of the support posture of the transition hydraulic support 100 so that the transition hydraulic support 100 is outside the working range of the coal mining machine 400.

[0138] S204. Obtain the pressure information between the transition hydraulic support 100 and the roof, and adjust the support strength of the transition hydraulic support 100 to the roof based on the pressure information.

[0139] In this embodiment, the position sensor at the front end of the top beam 3 installed on the transition hydraulic support 100 can collect the operating position signal of the coal mining machine 400 in real time, and at the same time monitor the current status of the side protection device 5. When the distance between the coal mining machine 400 and the current transition hydraulic support 100 is less than or equal to the width of 3 hydraulic supports (i.e., the first distance threshold), the side protection device 5 is immediately triggered to retract, and the telescopic beam 51 is controlled to retract further to avoid collision between the coal mining machine 400 and the transition hydraulic support 100. During this process, the high-definition camera collects the relative position information between the coal mining machine 400 and the transition hydraulic support 100 in real time, and combines it with laser ranging technology to accurately calculate the safe distance between the two, ensuring that the coal mining machine 400 is always within the safe operating range during the coal cutting process.

[0140] The hydraulic support posture is dynamically adjusted based on the collected data, including the swing angle of the side guard plate 52 and the extension and retraction of the telescopic beam 51, to adapt to the coal cutting trajectory of the coal mining machine 400. In addition, pressure sensors monitor changes in roof pressure, and a closed-loop control algorithm optimizes the support force distribution of the hydraulic support in real time to ensure roof stability.

[0141] The entire control process employs multi-sensor data fusion technology, combined with fuzzy PID control algorithm, to achieve precise adjustment of the hydraulic support posture. This ensures efficient coal cutting by the 400 coal mining machine, effectively avoids equipment interference and roof accidents, and significantly improves the safety and production efficiency of the ultra-high mining face.

[0142] See Figure 3 In some embodiments, the transition hydraulic support 100 control method further includes a support shifting process, which includes:

[0143] S301. Obtain the position of the coal mining machine 400 and determine whether the distance between the coal mining machine 400 and the transition hydraulic support 100 is greater than the second distance threshold.

[0144] S302. If so, then activate the delayed support mode.

[0145] The position signal of the coal mining machine 400 is obtained by the position sensor, and the relative position of the coal mining machine 400 and the transition hydraulic support 100 is monitored in real time. When the distance between the coal mining machine 400 and the current transition hydraulic support 100 is greater than the width of 3 hydraulic supports (i.e. the second distance threshold), the system determines that the safe operating distance condition is met and starts the delayed support mode.

[0146] S303, the push-pull device 6 of the transition hydraulic support 100 is connected to the front scraper conveyor 200, and the push-pull device 6 is controlled to push the front scraper conveyor 200 to move away from the transition hydraulic support 100. According to the feedback signal detected by the position sensor, the push-pull jack in the push-pull device 6 of the transition hydraulic support 100 is controlled to perform a retraction action. As the push-pull jack retracts, the push-pull device 6 extends from the front end of the transition hydraulic support 100 and pushes the front scraper conveyor 200 forward.

[0147] See Figure 4 and Figure 5 In this embodiment, the push-pull device 6 includes a frame and a push-pull jack. The front end of the push-pull jack is connected to the front end of the base 1 of the transition hydraulic support 100, and the rear end of the push-pull jack is connected to the rear end of the frame. Thus, when the push-pull jack is extended, the frame retracts into the cavity in the middle of the base 1, and when the push-pull jack is retracted, the frame extends from the front end of the base 1.

[0148] S304. Control the descent of the top beam 3 of the transition hydraulic support 100 to reduce the pressure between the top beam 3 and the top plate to a first preset pressure. The stroke sensor monitors the pushing step distance of the push-pull device 6 in real time. When the preset threshold is reached, the system triggers the column 2 descent command. Through multi-parameter fusion detection of the pressure sensor and the stroke sensor, the descent height of the top beam 3 is dynamically calculated to ensure that the top beam 3 maintains a reasonable contact pressure with the top plate.

[0149] S305. Obtain the inclination angle between the base 1 of the transition hydraulic support 100 and the ground, determine the extension and retraction of the lifting jack 7 of the transition hydraulic support 100, and drive the lifting jack 7 to adjust the base 1 of the transition hydraulic support 100.

[0150] During the attitude adjustment phase of the transition hydraulic support 100, the base 1 of the transition hydraulic support 100 is judged to be in a horizontal state based on the data information obtained by the angle monitoring component. When the base 1 is detected to be tilted, the extension of the lifting jack 7 of the transition hydraulic support 100 is adjusted to level and compensate, so as to avoid the front end of the base 1 sinking into the ground and making it difficult to pull the transition hydraulic support 100 forward.

[0151] See Figure 4 and Figure 5 In this embodiment, the upper end of the lifting jack 7 is connected to the front end of the base 1, and the lower end of the lifting jack 7 abuts against the frame of the push-pull device 6. The lifting jack 7 can move along the front-back direction on the frame, thereby lifting the front end of the base 1 when the lifting jack 7 extends. When the lifting jack 7 retracts, the front end of the base 1 can be supported on the ground again.

[0152] S306, Control the push-pull device 6 to pull the transition hydraulic support 100 toward the direction of the front scraper conveyor 200.

[0153] During the extension process of the push-pull device 6, the push-pull device 6 generates a reaction force with the scraper conveyor 200 as the fulcrum. The push-pull device 6 retracts into the transition hydraulic support 100 and drives the transition hydraulic support 100 to move forward as a whole. The step distance of the frame movement is controlled by a high-precision stroke sensor in a closed loop.

[0154] S307: Control the bottom lifting jack 7 to reset and drive the top beam 3 to rise so that the pressure between the top beam 3 and the top plate reaches the second preset pressure. After the transition hydraulic support 100 is moved, the system sequentially executes the bottom lifting jack 7 retraction action and the column 2 lifting action. The support strength of the top plate is monitored in real time by the pressure sensor. When the second preset pressure is reached, the column lifting is stopped immediately.

[0155] S308, the side support device 5 of the control transition hydraulic support 100 is deployed to complete the support of the top coal. The side support plate 52 and the telescopic beam 51 work together. The angle monitoring component verifies whether the angle of the side support plate 52 meets the requirements of the top coal support. The pressure sensor detects the contact force between the telescopic beam 51 and the coal wall, forming a closed-loop control of the entire process of pushing the conveyor-moving the support-support.

[0156] The control method for the transition hydraulic support 100 in this invention employs multi-sensor data fusion technology and a graded condition triggering mechanism. It achieves dynamic adjustment of the transition hydraulic support 100's posture through the combined action of the push-pull jacks and the bottom-lifting jacks 7 in the push-pull device 6, solving the stability control problem of the transition hydraulic support 100 under ultra-high mining conditions. The entire control process adopts a modular design; the action sequence and parameter thresholds of each actuator can be flexibly configured through a human-machine interface according to coal seam conditions. The system has a fault self-diagnosis function, automatically activating the emergency protection program when any sensor data is abnormal. Compared with hydraulic support control methods in related technologies, this invention significantly improves the automation level and support reliability of the support transfer process, and is particularly suitable for transition support control in ultra-high mining faces with top coal caving exceeding 7 meters.

[0157] During operation, the transition hydraulic support 100 performs normally for over 60% of the cycle, coal discharge for 30%, and the remaining transition actions are controlled by the hydraulic system. Each transition action can be completed within 10 seconds. The operation process employs a pressure-displacement dual feedback control strategy, using sensors to monitor the operating conditions of each hydraulic cylinder in real time. The control system precisely coordinates the actions, solving the technical problem of low coal discharge efficiency and difficulty in maintaining support stability in traditional supports.

[0158] See Figures 6 to 12 The timing sequence of the operation of the control method for the ultra-high mining height top coal caving transition hydraulic support 100 in this embodiment of the invention is as follows:

[0159] like Figure 6 As shown, the transition hydraulic support 100 is initially in a normal support state, the top beam 3 is in close contact with the roof, and the side plate 52 is in an extended position to support the coal wall. At this time, the transition hydraulic support 100 bears the roof pressure and maintains the stability of the working face.

[0160] like Figure 7 As shown, when the coal mining machine 400 is cutting coal, the side protection jack 54 is controlled to retract the side protection plate 52, and the telescopic jack 53 is controlled to retract the telescopic beam 51 to avoid interference between the coal mining machine 400 and the side protection device 5 and to avoid affecting the operation of the coal mining machine 400.

[0161] like Figure 8 As shown, after the coal cutting operation of the coal mining machine 400 is completed, the front end of the push-pull device 6 is connected to the front scraper conveyor 200. The push-pull jack of the push-pull device 6 retracts, and the push-pull device 6 extends from the front end of the transition hydraulic support 100 and pushes the front scraper conveyor 200 to move one step towards the coal wall.

[0162] like Figure 9 As shown, the column 2 then retracts, causing the top beam 3 to drop moderately, while the bottom jack 7 extends to support the front end of the base 1, causing the front end of the base 1 to tilt up.

[0163] like Figure 10 As shown, the push-pull device 6 extends its push-pull jack, retracts into the lower part of the base 1, and pulls the transition hydraulic support 100 forward as a whole. Then, it simultaneously performs the combined actions of lifting the bottom, raising the frame, and extending the side guard. The bottom lifting jack 7 retracts and resets, the column 2 raises the top beam 3 to the support height, and the side guard jack 54 and telescopic jack 53 move to enable the side guard plate 52 and telescopic beam 51 to complete the front-end support.

[0164] like Figure 11As shown, after entering the coal feeding stage, the swing beam 41 and tail beam 42 of the coal feeding device 4 are first adjusted to the optimal coal feeding angle by the swing beam jack 44 and tail beam jack 45. At this time, the coal feeding window is opened, which is regarded as the start of coal feeding. The insert plate jack 46 controls the insert plate 43 to reciprocate and extend to achieve multiple rounds of coal feeding operations. During this period, the angle of the tail beam 42 can be dynamically fine-tuned to improve the top coal recovery rate.

[0165] like Figure 12 As shown, after the coal is discharged, the coal discharge device 4 closes the coal discharge window and completes the support of the rear of the transition hydraulic support 100. The pull-back jack in the pull-back chute device 11 pulls the rear scraper conveyor to follow.

[0166] Then, as the fully mechanized mining face advances forward, the above sequence of actions can be repeated.

[0167] The electronic device of this invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the computer program to implement the transition hydraulic support control method of any of the above embodiments.

[0168] The control system of this invention is used to implement the transition hydraulic support control method of any of the above embodiments. The control system includes monitoring equipment, data storage module, program editing module, human-machine interaction module, fault diagnosis module, central processing unit and digital twin platform.

[0169] The monitoring equipment includes at least one or more of the following components: vibration monitoring component, stroke monitoring component, position monitoring component, angle monitoring component, camera monitoring component, dust monitoring component, and pressure monitoring component. The monitoring equipment is used to acquire monitoring signals.

[0170] The data storage module records the operating parameters of the transition hydraulic support. The program editing module presets the control logic of the transition hydraulic support. The human-machine interface module provides an operating interface and displays the status. The fault diagnosis module analyzes abnormal monitoring signals and issues early warnings. The central processing unit receives monitoring signals and coordinates the operation of each module. The digital twin platform is connected to the central processing unit and is used to construct a digital model of the transition hydraulic support.

[0171] This invention embodiment can set up a centralized control platform to remotely communicate with the control system. This embodiment establishes a spatial attitude digital twin model of the transition hydraulic support, and dynamically adjusts the support force distribution through a hysteresis support strategy, controlling the roof subsidence within 50mm (the national standard allowable value is 120mm) during coal seam mining with a height of 7 meters or more, thus improving support stability by 2.4 times.

[0172] The entire control system communicates with the transition hydraulic support via a CAN bus. It can dynamically adjust the action speed of each actuator using a fuzzy PID algorithm, thereby improving coal discharge efficiency by more than 30%. At the same time, it achieves fully automated control of the coal discharge process through multi-sensor data fusion technology, which can reduce the top coal loss rate by 15% compared with the traditional single-stage coal discharge mechanism.

[0173] In this embodiment, a central processing unit (CPU) is used as the core, integrating a program editing module, a data storage module, and a fault diagnosis module to form a multi-level closed-loop control architecture. The CPU connects to a centralized control platform via remote communication. The centralized control platform outputs commands to the electro-hydraulic proportional control valve group, driving the columns and jacks through electro-hydraulic control to achieve precise control of the coal discharge device's attitude, ensuring the stability of the transition hydraulic support. The program editing module can incorporate a multi-objective optimization algorithm, performing logical calculations based on parameters such as mining height, top coal thickness, and working face inclination angle to generate real-time hydraulic support attitude adjustment strategies. The data storage module records historical operating data and working condition characteristics to construct an adaptive control model.

[0174] The sensor network consists of high-precision stroke sensors, vibration sensors, and position sensors, which collect magnetoresistive, acoustic spectrum, and distance information, respectively. The stroke sensors monitor the lifting stroke and tilt angle changes of the hydraulic support in real time. The vibration sensors use acoustic spectrum analysis technology to identify the coal-gangue mixing state during coal discharge. The position sensors use laser ranging to detect the distance between the side support plate and the coal wall to prevent collisions. All sensor data is synchronously transmitted to the fault diagnosis module of the control system. Based on a deep learning-based anomaly detection algorithm, the fault diagnosis module compares real-time data with a standard operating condition database. When abnormal fluctuations in column pressure, jack lag, or sensor signal distortion are detected, a three-level alarm mechanism is immediately triggered, and the current operation is interrupted through the central processing unit.

[0175] This invention adopts remote control technology of digital twin platform. Through 5G+industrial Internet architecture, 138 parameters such as the three-dimensional posture and pressure distribution of the transition hydraulic support are mapped to the digital twin platform in real time, supporting remote expert diagnosis and process optimization, and increasing the automation rate of the working face from 65% to 92%.

[0176] The fault diagnosis module in this embodiment continuously monitors the pressure curves of each actuator. For example, if the column working pressure exceeds the rated value by ±15% for 3 consecutive seconds, it is determined to be an abnormal pressure from the top plate. It automatically switches to constant resistance pressure relief mode and uploads early warning information to the centralized control platform. The control system in this embodiment can have a built-in library of 21 or more typical operating condition features. For example, through waveform analysis of pressure sensors, it can predict faults such as seal failure 48 hours in advance, improving maintenance efficiency by 70% and reducing annual unplanned downtime to less than 8 hours.

[0177] The control system achieves millisecond-level coordination of the "coal mining-support moving-coal release" process chain through the 5G communication module. The synchronization error between the pushing jack and the pulling back jack is less than 10ms, which increases the daily advance speed of the working face to 15 meters / day (compared to 8-10 meters in the traditional method).

[0178] The control system in this embodiment is highly integrated, enabling precise control of the pressure, stroke, and posture of the transition hydraulic supports to ensure the safe and efficient operation of the fully mechanized coal mining face. Simultaneously, it achieves closed-loop control of support, coal release, and dust control through multi-source information fusion, meeting the high safety and efficiency requirements of intelligent mining of extra-thick coal seams.

[0179] This invention employs a multimodal coal gangue identification system, integrating high-frequency impact spectrum analysis of vibration monitoring components, image semantic segmentation of high-definition cameras, and multi-source data fusion algorithms based on attitude feedback from angle monitoring components to construct a real-time coal gangue identification system. The misjudgment rate is reduced to below 5% (the industry average is 25%), and the coal gangue mixing rate is controlled within 8%, improving the coal quality grade by 1-2 levels compared to related technologies.

[0180] Meanwhile, the embodiments of the present invention can use multi-sensor data fusion technology to establish a three-dimensional coupled control model of support posture, surrounding rock condition and coal discharge efficiency. Compared with related technologies, it can improve coal discharge efficiency by more than 22% and reduce the collision accident rate of the support wall by more than 90%.

[0181] The control system in this embodiment can be used in conjunction with a load-sensitive pump group and an electro-hydraulic proportional control valve group to reduce the energy consumption of column lifting by 35%, compress the overall power fluctuation range of the system from ±15% to ±5%, and save 120,000 kWh per working face per year.

[0182] The service life of this invention is extended to 11 years (the industry average is 8 years), which reduces the equipment cost per ton of coal by 0.6 yuan / ton and increases the annual benefit of a single working face by 24 million yuan.

[0183] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0184] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0185] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a connection that allows communication between them; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0186] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0187] In this invention, the terms "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0188] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for controlling a transitional hydraulic support, characterized in that, This includes a top coal caving process, wherein the top coal caving process includes: Obtain the top coal caving signal; Based on the top coal release signal, the coal release device of the transition hydraulic support is adjusted to retract to a preset posture to form a coal release window and release coal. Acoustic wave characteristic spectrum of top coal caving is collected, and time-domain analysis of vibration signal is performed based on the acoustic wave characteristic spectrum to obtain data information; Based on the data information, determine whether the gangue content in the top coal exceeds a preset value; If so, and the duration of the data reflecting that the gangue content exceeds the preset value exceeds the first preset time, then a command to terminate coal release will be issued; Based on the termination coal discharge command, the coal discharge device is controlled to extend and close the coal discharge window; The steps include collecting the acoustic characteristic spectrum of the top coal caving, and performing time-domain analysis of the vibration signal based on the acoustic characteristic spectrum to obtain data information, including: Vibration monitoring components are arranged on the coal discharge device to collect the acoustic wave characteristic spectrum of top coal collapse during the coal discharge process; Time-domain analysis of the vibration signal is performed on the characteristic spectrum of the sound wave to classify vibration signals of different frequencies; Acquire data information within multiple frequency ranges; The data information includes the proportion of vibration signals in different frequency ranges; The data information includes the proportion of low-frequency vibration signals with a frequency less than or equal to a first frequency threshold and the proportion of high-frequency vibration signals with a frequency greater than the first frequency threshold. When the proportion of the high-frequency vibration signal is greater than the first proportional threshold, it is determined that the gangue content in the top coal exceeds the preset value.

2. The transition hydraulic support control method according to claim 1, characterized in that, The steps include adjusting the coal discharge device of the transition hydraulic support to retract to a preset position to form a coal discharge window and then discharging coal, including: Adjust the coal discharge device of the transition hydraulic support to retract to the first preset posture so that the opening of the coal discharge window is less than or equal to the first opening threshold. Repeat the previous step and discharge coal multiple times at the preset frequency; The coal discharge device of the transition hydraulic support is adjusted to retract to a second preset posture to adjust the opening of the coal discharge window to a second opening threshold for continuous coal discharge operation, wherein the second opening threshold is greater than the first opening threshold.

3. The transition hydraulic support control method according to claim 2, characterized in that, The step of adjusting the coal discharge device of the transition hydraulic support to retract to a second preset posture to adjust the opening of the coal discharge window to a second opening threshold includes: A three-dimensional dynamic model is constructed based on the transition hydraulic support and the rear scraper conveyor below the coal discharge window; The transition hydraulic support and the three-dimensional spatial dynamic model move synchronously. Based on the movement of the three-dimensional spatial dynamic model, it is determined whether the coal discharge device interferes with the rear scraper conveyor. If so, then the coal discharge device of the transition hydraulic support shall be stopped from continuing to operate; If not, the coal discharge device of the transition hydraulic support is driven to retract until the opening of the coal discharge window reaches the second opening threshold.

4. The transition hydraulic support control method according to claim 1, characterized in that, When adjusting the attitude of the coal discharge device in the transition hydraulic support, the motion parameters and position parameters of the coal discharge device are acquired by stroke monitoring components, position monitoring components, and angle monitoring components arranged on the transition hydraulic support. The attitude of the coal discharge device is then adjusted based on the motion parameters and position parameters. And / or, visual information at the coal discharge window is acquired by a camera monitoring component arranged on the transition hydraulic support, and the attitude of the coal discharge device is adjusted based on the visual information. And / or, dust concentration parameters are acquired by dust monitoring components arranged on the transition hydraulic support, and the spray system of the transition hydraulic support is controlled based on the dust concentration parameters. And / or, hydraulic parameters are acquired by pressure monitoring components arranged on the transition hydraulic support, and the support strength of the transition hydraulic support for the top plate is adjusted based on the hydraulic parameters.

5. The transition hydraulic support control method according to any one of claims 1 to 4, characterized in that, The transition hydraulic support control method further includes a coal mining process, which includes: The positions of the coal mining machine and the transition hydraulic support are obtained, and it is determined whether the distance between the coal mining machine and the transition hydraulic support is less than or equal to a first distance threshold. If so, then the protective device of the transition hydraulic support shall be recovered; The relative position information between the coal mining machine and the transition hydraulic support is acquired in real time, and the support posture of the transition hydraulic support is adjusted so that the transition hydraulic support is outside the working range of the coal mining machine. Obtain the pressure information between the transition hydraulic support and the roof plate, and adjust the support strength of the transition hydraulic support for the roof plate based on the pressure information.

6. The transition hydraulic support control method according to claim 5, characterized in that, The transition hydraulic support control method further includes a support shifting process, which includes: The position of the coal mining machine is obtained, and it is determined whether the distance between the coal mining machine and the transition hydraulic support is greater than a second distance threshold. If so, then activate the delayed support mode; The push-pull device of the transition hydraulic support is connected to the front scraper conveyor, and the push-pull device is controlled to push the front scraper conveyor to move away from the transition hydraulic support. The top beam of the transition hydraulic support is lowered to reduce the pressure between the top beam and the top plate to a first preset pressure. Obtain the inclination angle between the base of the transition hydraulic support and the ground, determine the extension and retraction amount of the lifting jack of the transition hydraulic support, and drive the lifting jack to adjust the base of the transition hydraulic support. Control the push-pull device to pull the transition hydraulic support toward the direction of the front scraper conveyor; Control the bottom lifting jack to reset and drive the top beam to rise so that the pressure between the top beam and the top plate reaches the second preset pressure; The protective device of the transition hydraulic support is deployed to complete the support of the top coal.

7. An electronic device, characterized in that, The system includes a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the computer program to implement the transition hydraulic support control method according to any one of claims 1 to 6.

8. A control system, characterized in that, For implementing the transition hydraulic support control method according to any one of claims 1 to 6, the control system comprises: The monitoring device includes at least one or more of the following: vibration monitoring component, stroke monitoring component, position monitoring component, angle monitoring component, camera monitoring component, dust monitoring component, and pressure monitoring component; the monitoring device is used to acquire monitoring signals. A data storage module is used to record the operating parameters of the transition hydraulic support; The program editing module is used to preset the control logic of the transition hydraulic support; The fault diagnosis module is used to analyze abnormal monitoring signals and issue early warnings. Human-computer interaction module, which provides an operation interface and displays status; A central processing unit (CPU) is used to receive the monitoring signals and coordinate the operation of each module. A digital twin platform, connected to the central processing unit, is used to construct a digital model of the transition hydraulic support.

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