Fully mechanized coal mining face hydraulic support multi-mode support moving control method and related equipment

Abstract

The invention provides a fully mechanized coal mining face hydraulic support multi-mode support moving control method and related equipment, and the method comprises the steps: collecting real-time sensor data of a fully mechanized coal mining face, and associating the real-time sensor data with preset geological data; generating a working condition evaluation result representing the current fully mechanized coal mining face state according to the associated data; based on the working condition evaluation result, a target support moving mode is selected for the hydraulic support from multiple predefined support moving modes, and a corresponding support moving control strategy is generated according to the target support moving mode; according to the method, a multi-mode cooperation mechanism is achieved by automatically selecting the support moving mode and through the support moving control strategy, the geological adaptability is improved, response is timely, and the capacity of coping with complex working conditions is achieved.

Description

Technical Field

[0001] This invention relates to the field of intelligent coal mining technology, and in particular to a multi-mode moving control method and related equipment for hydraulic supports in fully mechanized mining faces. Background Technology

[0002] The hydraulic support relocation in fully mechanized longwall mining is a critical process in coal mining, and its level of intelligent control directly affects production safety and efficiency. Existing hydraulic support control technologies primarily focus on the precise control of individual relocation actions. By configuring parameters through the support controller, the pushing jacks are controlled to perform the relocation action. In each calculation interval, the relocation distance is estimated using algorithms, and the action is stopped by comparing it with a target value, thus achieving precise relocation control according to the target distance. However, this relocation mode is singular, lacks geological adaptability, and cannot adaptively switch relocation modes according to complex and changing geological conditions. Furthermore, mode switching relies on manual intervention, resulting in delayed and inaccurate responses. The current judgment and switching of relocation modes heavily depend on the operator's experience. When working conditions change, slow manual response makes it difficult to accurately grasp the optimal switching time, easily leading to problems such as support collapse and coal and gangue accumulation, failing to meet the real-time response requirements of intelligent mining. When facing complex working conditions requiring the coordinated operation of multiple relocation modes, existing technologies lack effective coordination logic, leading to conflicts or poor connections between modes, low relocation efficiency, and even equipment damage. Summary of the Invention

[0003] This invention provides a multi-mode hydraulic support shifting control method and related equipment for fully mechanized mining faces, which solves the defects of existing technologies, such as single shifting mode, reliance on manual switching and lack of multi-mode coordination mechanism, resulting in poor geological adaptability, slow response and insufficient ability to cope with complex working conditions.

[0004] This invention provides a multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces, comprising: Collect real-time sensor data from the fully mechanized mining face and correlate the real-time sensor data with preset geological data; Based on the correlated data, a condition assessment result representing the current state of the fully mechanized mining face is generated; Based on the working condition evaluation results, a target moving mode is selected for the hydraulic support from a variety of predefined moving modes, and a corresponding moving control strategy is generated according to the target moving mode. The aforementioned support shifting control strategy is sent to the corresponding hydraulic support controller to execute the support shifting operation.

[0005] According to the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces provided by the present invention, the step of associating the real-time sensor data with preset geological data includes: The collected real-time sensor data is preprocessed, including filtering and noise reduction; The filtered and denoised real-time sensor data is unified with the preset geological data in a unified spatiotemporal reference. Under the unified spatiotemporal reference, the real-time data from different sensors are matched and bound with the geological attributes of the corresponding spatial locations in the preset geological data.

[0006] According to the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces provided by the present invention, the working condition assessment results include at least one of the following: roof stability assessment results, support-surrounding rock system attitude and slippage trend, floor bearing capacity judgment results, and current mining process status identification results.

[0007] According to the multi-mode support relocation control method for hydraulic supports in fully mechanized mining faces provided by the present invention, the step of selecting a target relocation mode for the hydraulic support from a predefined variety of relocation modes based on the working condition evaluation results, and generating a corresponding relocation control strategy according to the target relocation mode, includes: The working condition evaluation results are matched with the triggering conditions of a variety of predefined frame-shifting modes; Based on the matching results, one or more target moving modes are determined for the hydraulic support; Based on one or more determined target frame-shifting modes, the corresponding standard action sequence and parameter configuration rules are invoked to generate a frame-shifting control strategy.

[0008] According to the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces provided by the present invention, the triggering conditions include: When the displacement or pressure change rate of the top plate exceeds the first threshold, the wiping and pulling mode is triggered; When the coal seam dip angle exceeds the second threshold, the upward pulling mode or the downward pulling mode is triggered; When the bottom plate is detected to be sinking, the multiple bottom lifting and pulling mode is triggered; When the execution of the top-wiping and pulling mode is blocked, the re-lowering and re-moving pulling mode is triggered.

[0009] According to the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces provided by the present invention, the step of generating a support shifting control strategy by calling the corresponding standard action sequence and parameter configuration rules based on one or more determined target support shifting modes includes: If a single target moving mode is determined, the standard action sequence corresponding to that mode is invoked, and the control parameters of each action in the sequence are dynamically configured according to the working condition evaluation results to generate a single-mode moving control strategy. If multiple target transfer modes are determined collaboratively, the standard action sequences corresponding to each mode are fused and sorted to generate a composite action sequence. Based on the composite action sequence and the parameter configuration between different modes, a multi-mode collaborative transfer control strategy is generated.

[0010] According to the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces provided by the present invention, the step of fusing and sorting the standard action sequences corresponding to each mode to generate a composite action sequence, and generating a multi-mode collaborative support shifting control strategy based on the composite action sequence and the parameter configuration between different modes, includes: Identify repetitive action units in the standard action sequence corresponding to multiple target transfer modes, and merge the repetitive action units; Based on process safety logic and efficiency optimization principles, the merged action units are reordered to generate a composite action sequence; Establish parameter priority rules. When there is a conflict in parameter configuration between different modes, the parameter configuration shall be determined according to the parameter priority rules. The composite action sequence is bound to the parameter configuration to generate the multi-mode collaborative frame-shifting control strategy.

[0011] The present invention also provides a multi-mode support shifting control device for hydraulic supports in fully mechanized mining faces, comprising: The association module is used to collect real-time sensor data from the fully mechanized mining face and associate the real-time sensor data with preset geological data. The first generation module is used to generate a condition assessment result that characterizes the current state of the fully mechanized mining face based on the correlated data. The second generation module is used to select a target moving mode for the hydraulic support from a variety of predefined moving modes based on the working condition evaluation results, and generate a corresponding moving control strategy according to the target moving mode. The execution module is used to send the moving control strategy to the corresponding hydraulic support controller to execute the moving operation.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the multi-mode shifting control method for hydraulic supports in fully mechanized mining faces as described in any of the preceding claims.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the multi-mode shifting control method for hydraulic supports in fully mechanized mining faces as described in any of the preceding claims.

[0014] The present invention provides a multi-mode hydraulic support relocation control method and related equipment for fully mechanized mining faces. This method collects real-time sensor data from the fully mechanized mining face and correlates this data with preset geological data. Based on the correlated data, a condition assessment result characterizing the current state of the fully mechanized mining face is generated. Based on this condition assessment result, a target relocation mode is selected for the hydraulic support from a variety of predefined relocation modes. A corresponding relocation control strategy is generated based on the target relocation mode. The relocation control strategy is then sent to the corresponding hydraulic support controller to execute the relocation operation. This invention achieves a multi-mode collaborative mechanism by automatically selecting the relocation mode and implementing a relocation control strategy, thereby improving geological adaptability, providing timely response, and enabling the handling of complex working conditions. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0016] Figure 1 This is one of the flowcharts of the multi-mode shifting control method for hydraulic supports in fully mechanized mining faces provided in this embodiment of the invention; Figure 2 This is the second flowchart of the multi-mode shifting control method for hydraulic supports in fully mechanized mining faces provided in this embodiment of the invention; Figure 3 This is a functional structure diagram of the multi-mode shifting control device for hydraulic supports in fully mechanized mining faces provided in this embodiment of the invention; Figure 4 This is a functional structure diagram of the electronic device provided in the embodiments of the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0018] Figure 1 A flowchart of the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces provided in this embodiment of the invention is shown below. Figure 1 As shown in the embodiment of the present invention, the multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces includes: Step 101: Collect real-time sensor data from the fully mechanized mining face and correlate the real-time sensor data with preset geological data; Step 102: Generate a condition assessment result representing the current state of the fully mechanized mining face based on the correlated data; Step 103: Based on the working condition evaluation results, select a target moving mode for the hydraulic support from a variety of predefined moving modes, and generate a corresponding moving control strategy according to the target moving mode; Step 104: Send the moving support control strategy to the corresponding hydraulic support controller to execute the moving support operation.

[0019] Traditional support shifting modes are limited and lack geological adaptability, failing to adaptively switch modes according to complex and changing geological conditions. Furthermore, mode switching relies on manual intervention, resulting in delayed and inaccurate responses. Current support shifting mode judgment and switching heavily depend on operator experience. When working conditions change, slow manual response makes it difficult to accurately grasp the optimal switching timing, easily leading to problems such as support collapse and coal / gangue accumulation, failing to meet the real-time response requirements of intelligent mining. In complex working conditions requiring the coordinated operation of multiple support shifting modes, existing technology lacks effective coordination logic, leading to conflicting actions or poor coordination between modes, resulting in low shifting efficiency and even equipment damage.

[0020] The multi-mode hydraulic support relocation control method for fully mechanized mining faces provided in this invention collects real-time sensor data from the fully mechanized mining face and correlates this data with preset geological data. Based on the correlated data, a working condition assessment result characterizing the current state of the fully mechanized mining face is generated. Based on the working condition assessment result, a target relocation mode is selected for the hydraulic support from a variety of predefined relocation modes. A corresponding relocation control strategy is generated based on the target relocation mode. The relocation control strategy is then sent to the corresponding hydraulic support controller to execute the relocation operation. This invention improves geological adaptability, provides timely response, and has the ability to cope with complex working conditions by automatically selecting the relocation mode and implementing a multi-mode collaborative mechanism through the relocation control strategy.

[0021] Based on any of the above embodiments, the step of associating the real-time sensor data with preset geological data includes: Step 201: Preprocess the collected real-time sensor data, including filtering and noise reduction; Step 202: Unify the spatiotemporal reference of the filtered and denoised real-time sensor data with the preset geological data, and match and bind the real-time data from different sensors with the geological attributes of the corresponding spatial locations in the preset geological data under the unified spatiotemporal reference.

[0022] In this embodiment of the invention, pressure sensors, displacement sensors, tilt sensors, and other devices are installed on the hydraulic support of the fully mechanized mining face and connected to the support movement software and hardware interface. Geological data of the working face, such as coal seam thickness, roof lithology, and coal seam dip angle, are entered into the software system. After the software starts, the sensor configuration is initialized, and parameters such as data acquisition frequency and transmission method are set. Sensor data is acquired in real time and preprocessed, such as through filtering and noise reduction, to ensure data accuracy and stability.

[0023] Traditional scaffolding relocation processes present numerous safety hazards, such as excessive scaffolding resistance and excessive relocation step deviation. Current technologies lack adequate monitoring and early warning systems for these hazards. There is a lack of effective real-time monitoring methods, making it impossible to promptly detect potential safety issues; the early warning mechanism is inadequate, failing to issue timely warnings and implement appropriate protective measures when safety hazards occur. For example, if the scaffolding resistance exceeds the rated value and the relocation mode or parameters are not adjusted promptly, it may lead to scaffolding damage; if the relocation step deviation is too large and not corrected in time, it will affect the advancement accuracy of the working face and the normal operation of the equipment. Furthermore, current software systems suffer from complexity in switching modes and fail to promptly alert operators after mode changes.

[0024] In this embodiment of the invention, the software sends the generated support relocation command to the hydraulic support controller. The controller then controls the hydraulic system to execute relocation actions, such as lowering the column, moving the support, and raising the column. During the relocation process, the software monitors the support's operating status in real time through sensors, including parameters such as position, attitude, and pressure, and feeds this information back to the visual interactive interface. Operators can monitor the relocation process in real time through the visual interactive interface. If any abnormalities are detected, such as support tilting or abnormal pressure, they can intervene promptly through the interface control buttons to pause or adjust the relocation action. The software records and stores the relocation process data for subsequent analysis and optimization of the relocation strategy. For example, if a support tilt sensor detects tilting during the relocation process, the software immediately issues an alarm on the visual interactive interface and pauses the relocation. The operator checks the cause of the tilt, manually adjusts the support attitude, and then continues the relocation. The software stores all data from this relocation, providing support for subsequent analysis and improvement. When no rack transfer mode is set, the rack transfer mode is not displayed below the rack number button; multiple racks can be selected by sliding; one or more racks can be selected and the rack transfer mode can be set at the same time; selecting a rack transfer mode is essentially issuing a rack transfer mode command to the selected controller; after selecting a rack transfer mode, the rack transfer mode for each rack number is displayed below the selected rack number button; each rack can only support the selection of one rack transfer mode.

[0025] Based on any of the above embodiments, the working condition assessment results include, but are not limited to, the roof stability assessment results, the attitude and slippage trend of the support-surrounding rock system, the floor bearing capacity judgment results, and the current mining process status identification results.

[0026] In this embodiment of the invention, the step of selecting a target moving mode for the hydraulic support from a predefined set of multiple moving modes based on the working condition evaluation results, and generating a corresponding moving control strategy according to the target moving mode, includes: Step 301: Match the working condition evaluation results with the predefined triggering conditions of various frame-shifting modes; Step 302: Based on the matching results, determine one or more target moving modes for the hydraulic support; Step 303: Based on one or more determined target frame-shifting modes, call the corresponding standard action sequence and parameter configuration rules to generate a frame-shifting control strategy.

[0027] Due to the significant differences in geological conditions among various longwall mining faces, the operating conditions of the same face can also change at different mining stages. Currently, the selection of support shifting modes is often relatively fixed, making it difficult to flexibly switch according to real-time operating conditions. For example, a conventional support shifting mode is suitable in stable areas with a stable roof, but when the working face enters a fractured roof area, continuing to use the conventional support shifting mode can easily lead to roof and rock leakage accidents. In steeply inclined coal seam working faces, using only an upward or downward support shifting mode is insufficient to simultaneously address the dual risks of equipment movement and support collapse, failing to fully guarantee stable equipment operation and operational safety. Different support shifting modes require corresponding parameter support, such as shifting speed, jack extension / retraction, and initial support force. Currently, these parameters are often fixed and cannot be dynamically adjusted according to real-time operating conditions. For example, in the top-pull-up mode, the initial support force and the height of the lowering frame need to be set according to the real-time changes in the pressure on the roof. Fixed parameter settings may result in insufficient initial support force when the pressure on the roof is high, making it impossible to effectively control the roof, or the lowering frame may be too high when the pressure on the roof is low, increasing the risk of roof leakage. In the multiple bottom-lifting and pulling-up mode, if the single stroke and number of cycles of the bottom-lifting jack are fixed, it will be difficult to adapt to the different degrees of softness of the bottom plate, affecting the bottom-lifting effect.

[0028] In this embodiment of the invention, preprocessed data and geological data are integrated and input into the intelligent support relocation strategy planning algorithm module. The algorithm generates a relocation strategy based on the current support status, geological conditions, production requirements, and specific support pulling method.

[0029] Assuming the coal mining machine is cutting coal normally and using a conventional support system, the software determines the relative position and status of the supports and the coal mining machine through sensor data. Combined with coal seam stability information from geological data, it plans an automatic support relocation strategy. The algorithm calculates parameters such as the relocation sequence, speed, and column lowering and raising heights for each support, generating a detailed relocation command sequence. If a fractured area of ​​the roof requires the use of roof-scraping supports, the software intelligently adjusts the support relocation strategy based on sensor-monitored changes in support pressure and roof displacement, combined with geological data on roof lithology and fracture degree. The algorithm determines to use a pressurized relocation method, optimizes the relocation sequence, first reinforcing the supports around the fractured area, then slowly scrambling the roof to relocate the supports, and adjusts the support pressure and attitude in real time to ensure roof stability. When the support is moved upwards in an inclined coal seam, the software uses the coal seam dip angle from sensor data and geological data to calculate the upward trend of the support, adjust the sequence and speed of the support movement, control the distribution of the support force, prevent the support from moving excessively upwards, and ensure the stability of the support.

[0030] Based on any of the above embodiments, the triggering conditions include: When the displacement or pressure change rate of the top plate exceeds the first threshold, the wiping and pulling mode is triggered; When the coal seam dip angle exceeds the second threshold, the upward pulling mode or the downward pulling mode is triggered; When the bottom plate is detected to be sinking, the multiple bottom lifting and pulling mode is triggered; When the execution of the top-wiping and pulling mode is blocked, the re-lowering and re-moving pulling mode is triggered.

[0031] Currently, the switching of support modes relies heavily on manual judgment and operation, resulting in significant delays and inaccuracies. Manual judgment requires operators to possess extensive experience, and in complex working conditions, it is often difficult to make quick and accurate decisions. For example, when the working face transitions from overhead to downward mining, operators need to promptly switch to the corresponding overhead or downward support mode. However, the long reaction time makes it easy to miss the optimal switching opportunity, leading to problems such as support collapse and coal and gangue accumulation. Furthermore, when straightening the support, it is difficult for operators to accurately judge the degree of support tilt, thus affecting the straightening effect and consequently impacting subsequent mining operations and equipment operation.

[0032] In this embodiment of the invention, the shifting mode is automatically identified by triggering conditions, ensuring subsequent coal mining operations and equipment operation.

[0033] Based on any of the above embodiments, the step of generating a transfer control strategy by invoking the corresponding standard action sequence and parameter configuration rules according to one or more determined target transfer modes includes: If a single target moving mode is determined, the standard action sequence corresponding to that mode is invoked, and the control parameters of each action in the sequence are dynamically configured according to the working condition evaluation results to generate a single-mode moving control strategy. If multiple target transfer modes are determined collaboratively, the standard action sequences corresponding to each mode are fused and sorted to generate a composite action sequence. Based on the composite action sequence and the parameter configuration between different modes, a multi-mode collaborative transfer control strategy is generated.

[0034] The complex working conditions of fully mechanized longwall mining often require the coordinated operation of multiple support shifting modes, but existing technologies lack effective coordination mechanisms. For example, in areas with soft floor plates and large roof undulations, multiple bottom-raising and support-pulling modes and subsequent lowering and shifting modes need to be used simultaneously. However, existing technologies cannot achieve seamless coordination between these two modes, resulting in low support shifting efficiency and even situations where the supports "get stuck" or are damaged. In steeply inclined mining faces, the upward-moving support and the upward-moving support need to work together to prevent the equipment from moving upwards and the supports from tilting backwards. However, existing technologies lack coordination between the two modes, which can easily lead to conflicts, affecting the effectiveness and safety of support shifting.

[0035] In this embodiment of the invention, the step of fusing and sorting the standard action sequences corresponding to each mode to generate a composite action sequence, and generating a multi-mode cooperative frame-shifting control strategy based on the composite action sequence and the parameter configuration between different modes, includes: Step 401: Identify repetitive action units in the standard action sequence corresponding to multiple target transfer modes, and merge the repetitive action units; Step 402: Based on process safety logic and efficiency optimization principles, the merged action units are reordered to generate a composite action sequence; Step 403: Establish parameter priority rules. When there is a conflict in parameter configuration between different modes, the parameter configuration shall be determined according to the parameter priority rules. Step 404: Bind the composite action sequence with the parameter configuration to generate the multi-mode collaborative frame-shifting control strategy.

[0036] In this embodiment of the invention, a precise mapping relationship between the transfer mode and geological conditions is established. The nine transfer modes are as follows: Standard support system: Operate the support system to release pressure, allowing the top beam to slightly detach from the roof. Operate the push jacks to pull the support system forward one step along the working face direction (usually parallel to the scraper conveyor). Operate the support system to raise the column, allowing the top beam to reconnect and reach the specified initial support force. Applicable conditions: When the roof is relatively stable and flat, the floor is in normal condition, and no special operation is required. High efficiency; Upward sway correction: When moving the support, use the side push or adjusting jacks (if available) on the support, or apply a component force towards the tail of the machine during the moving process. This will cause the support to move slightly towards the tail of the machine as it moves forward, gradually correcting the "upward sway" phenomenon. Purpose: To correct the upward sway of the scraper conveyor and support, ensuring a flat working surface and normal equipment operation; Sliding support: This usually combines the operation of upward or downward support. Using the straightened supports on both sides of the curved section as a reference, adjust the direction of the intermediate support's movement (this may require simultaneously operating the side guard plates or adjusting jacks) to align it with the reference support. This may require multiple adjustments over time. Purpose: To maintain the working face supports in a straight line, which is crucial for uniform roof stress, straight operation of the scraper conveyor, and smooth cutting by the coal mining machine. Straightening the support frame: When the working face supports are not aligned in a straight line (due to bending or unevenness), this involves adjusting the supports to their designed straight position through specific frame-shifting operations. This typically combines upward or downward frame-shifting operations. Using the straightened supports on both sides of the bent section as a reference, adjust the shifting direction of the intermediate support frame (which may require simultaneously operating the side guard plates or adjusting jacks) to align it with the reference support frame. This may require multiple shifts and gradual adjustments. Purpose: To maintain the working face supports in a straight line, which is crucial for uniform roof stress, straight operation of the scraper conveyor, and smooth cutting by the coal mining machine. Wiping the roof support: A method of moving the roof support without completely lowering the support beams. The support beams remain attached to the roof slab or maintain only a very small gap (millimeter level) during the movement. Slight or insignificant lowering of the support beams greatly reduces the pressure between the beams and the roof slab (but does not completely unload the load), with the beams almost touching the roof slab. The jacks are then used to pull the support beams. The support beams are then raised to connect with the roof. Purpose: To minimize disturbance to broken or unstable roof slabs and prevent roof collapse. To avoid excessive and uncontrollable roof subsidence after lowering the support beams. Applicable conditions: Areas with poor roof conditions, such as broken roof slabs, composite roof slabs, easily delaminating roof slabs, and areas experiencing intense periodic pressure. It is one of the key technologies for roof maintenance. Multiple lifting and pulling operations: When the support base sinks into a soft substrate (such as mudstone or cemented substrate), a single movement is insufficient to completely pull the base out. Multiple operations of the lifting mechanism (lifting jack) and the moving mechanism are required to gradually move the support out of the pit. Operate the lifting jack to raise the front end of the support base to a certain height. Operate the moving jack to move it forward a short distance (less than the normal step distance). The column lowering-raising action may be repeated for assistance. Repeat the above steps until the support base is completely removed from the pit and moved to the predetermined position. Purpose: To resolve the support sinking problem and restore normal movement and working resistance. Applicable conditions: Soft, cemented, or uneven substrate areas; Further lowering and moving the support frame: This method is used when encountering severely fractured sections of the roof or large pieces of rock obstructing the support frame during the roof wiping and pulling process, making it impossible to complete the process in one go or posing too great a risk. Attempts to wipe the roof frame are unsuccessful. Further lowering the support beam: The support beam is further lowered, moving it a certain distance from the roof (but still as small as possible), avoiding or removing obstructions (e.g., gently pushing away rocks with side plates). Further moving the support frame: The moving jacks are quickly operated to complete the moving action. Rapidly raising the support beam to re-support the roof: The support beam is raised immediately after the support frame is in place to re-support the roof. Purpose: To overcome local obstacles and complete the moving of the support frame under extremely fractured roof conditions; it is a supplement to and emergency measure for roof wiping and pulling. The risk is higher than roof wiping and pulling, requiring careful and rapid operation. Applicable conditions: When the roof is extremely fractured and roof wiping and pulling is obstructed; Upward-facing support relocation: This refers to the operation of moving the support as the working face advances upward along the coal seam (working face dip angle greater than 0°, coal wall below the support). It emphasizes the stability of the support, utilizing side guards and anti-tipping / anti-slip devices. During support relocation, ensure timely extension of side guards to protect the coal wall. The relocation sequence may need adjustment (e.g., from bottom to top). When raising the support, ensure effective roof contact to prevent "point contact." Purpose: To safely and stably complete support relocation under upward-facing mining conditions, preventing support collapse and slippage. Downward-moving support: This refers to the operation of moving the support as the working face advances downward along the coal seam (the working face dip angle is greater than 0°, and the coal wall is above the support). Roof control is crucial, and timely support is often used, with the support being moved immediately after the coal machine cuts the coal to support the newly exposed roof. Roof-scraping support movement under pressure is more common to reduce roof disturbance. Emphasis is placed on preventing the support from tipping over and slipping (especially preventing it from tilting towards the coal wall). Care should be taken not to allow the front end of the support base to excessively penetrate the floor. Purpose: To effectively control the roof under downward-moving conditions, safely move the support, and prevent roof leaks and support tipping / slippage. The overall process for switching to the moving mode is as follows: Figure 2 As shown, it specifically includes: (1) Real-time data acquisition: After the system starts, it continuously acquires real-time sensor data of the fully mechanized mining face, including but not limited to support pressure, support posture, support stroke, coal mining machine position, and working face dip angle. This forms the data basis for subsequent intelligent decision-making.

[0037] (2) Relocation Strategy Algorithm: The collected data is input into the "Relocation Strategy Algorithm" module. This module does not directly output the results, but instead initiates a multi-path parallel or priority-ordered condition verification logic to comprehensively evaluate the current working condition: Standard condition (default) verification: As a basic judgment, if there are no special working conditions that are not met, the standard pull-out mode will be used by default.

[0038] Upward / downward verification: Determines whether the device has an upward or downward trend. If the condition is met ("Yes"), the upward / downward pull mode is triggered.

[0039] Straightness check: Determine whether the working face support deviates from the straight line. If the condition is met ("Yes"), the straightness check mode is triggered.

[0040] Roof wiping verification: Based on data such as roof pressure and displacement, the stability of the roof is judged. If the condition is met ("Yes"), the roof wiping and support mode is triggered.

[0041] Base plate softness check: Determine whether the base plate is sunken or soft. If the condition is met ("Yes"), trigger the multiple base plate lifting and support mode.

[0042] Excessive resistance during frame movement: If excessive resistance is detected during frame movement (such as when moving the frame while rubbing the top), the frame movement mode will be triggered to lower and move the frame again.

[0043] Inclination angle verification: Determine whether the inclination angle of the working face exceeds the threshold. If the condition is met ("Yes"), further distinguish and trigger the overhead mining or downward mining mode.

[0044] (3) Mode Execution and Feedback Loop: Once a specific moving mode is triggered through the above verification, the system executes that mode. After execution, the system will enter the judgment node of "whether the expected goal has been achieved". This is a key feedback and optimization link. If "yes", the moving is successful, the system will send the final instruction to the hydraulic support controller and end the current loop, waiting for the next trigger. If "no", the system will execute an alarm and start the error correction mechanism (such as retrying the operation, adjusting the control parameters, etc.), and at the same time store the abnormal data for subsequent analysis, thus forming a closed-loop control system.

[0045] The multi-mode support relocation control method for hydraulic supports in fully mechanized mining faces provided by this invention, from data acquisition and relocation strategy planning for different support pulling methods to support relocation execution and monitoring feedback, ensures that the software can correctly implement various support pulling operations according to the predetermined process and logic under various working conditions, achieving efficient and precise support relocation results. Multiple adjustable control parameters are preset for each mode; this can meet the selection of support relocation schemes in different scenarios. Furthermore, multiple supports can be continuously highlighted or selected intermittently, allowing for flexible and varied support mode settings. Once a support mode is set, the corresponding mode name is also displayed below for easy user viewing.

[0046] The following describes the multi-mode moving control method for hydraulic supports in fully mechanized mining faces provided by the present invention. The multi-mode moving control method for hydraulic supports in fully mechanized mining faces described below can be referred to in correspondence with the multi-mode moving control method for hydraulic supports in fully mechanized mining faces described above.

[0047] Figure 3 The functional structure diagram of the multi-mode support shifting control device for fully mechanized mining faces provided in this embodiment of the invention is as follows: Figure 3As shown, the multi-mode support shifting control device for fully mechanized mining face hydraulic supports provided in this embodiment of the invention includes: The association module 301 is used to collect real-time sensor data from the fully mechanized mining face and associate the real-time sensor data with preset geological data. The first generation module 302 is used to generate a condition assessment result representing the current state of the fully mechanized mining face based on the associated data. The second generation module 303 is used to select a target moving mode for the hydraulic support from a variety of predefined moving modes based on the working condition evaluation results, and generate a corresponding moving control strategy according to the target moving mode. The execution module 304 is used to send the moving control strategy to the corresponding hydraulic support controller to execute the moving operation.

[0048] The multi-mode hydraulic support relocation control device for fully mechanized mining faces provided in this embodiment of the invention collects real-time sensor data from the fully mechanized mining face and correlates the real-time sensor data with preset geological data; it generates a working condition assessment result characterizing the current state of the fully mechanized mining face based on the correlated data; based on the working condition assessment result, it selects a target relocation mode for the hydraulic support from a variety of predefined relocation modes, generates a corresponding relocation control strategy based on the target relocation mode, and sends the relocation control strategy to the corresponding hydraulic support controller to execute the relocation operation. This embodiment of the invention improves geological adaptability, provides timely response, and has the ability to cope with complex working conditions by automatically selecting the relocation mode and realizing a multi-mode collaborative mechanism through the relocation control strategy.

[0049] Figure 4 An example is a schematic diagram of the physical structure of a communication device, such as... Figure 4 As shown, the communication device may include a processor 410, a communication interface 420, a memory 430, and a communication bus 440. The processor 410, communication interface 420, and memory 430 communicate with each other via the communication bus 440. The memory 430 includes computer programs, an operating system, and acquired data. The processor 410 can call logical instructions in the memory 430 to execute a multi-mode hydraulic support relocation control method for a fully mechanized mining face. This method includes: collecting real-time sensor data from the fully mechanized mining face and correlating the real-time sensor data with preset geological data; generating a working condition assessment result characterizing the current state of the fully mechanized mining face based on the correlated data; selecting a target relocation mode for the hydraulic support from a predefined set of relocation modes based on the working condition assessment result; generating a corresponding relocation control strategy based on the target relocation mode; and sending the relocation control strategy to the corresponding hydraulic support controller to execute the relocation operation.

[0050] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to related technologies, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0051] On the other hand, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements a multi-mode hydraulic support relocation control method for fully mechanized mining faces provided by the methods described above. The method includes: collecting real-time sensor data from the fully mechanized mining face and correlating the real-time sensor data with preset geological data; generating a working condition assessment result characterizing the current state of the fully mechanized mining face based on the correlated data; selecting a target relocation mode for the hydraulic support from a variety of predefined relocation modes based on the working condition assessment result; generating a corresponding relocation control strategy based on the target relocation mode; and sending the relocation control strategy to the corresponding hydraulic support controller to execute the relocation operation.

[0052] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0053] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the parts that contribute to the related technology, can be embodied in the form of software products. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0054] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-mode shifting control method for hydraulic supports in fully mechanized mining faces, characterized in that, include: Collect real-time sensor data from the fully mechanized mining face and correlate the real-time sensor data with preset geological data; Based on the correlated data, a condition assessment result representing the current state of the fully mechanized mining face is generated; Based on the working condition evaluation results, a target moving mode is selected for the hydraulic support from a variety of predefined moving modes, and a corresponding moving control strategy is generated according to the target moving mode. The aforementioned support shifting control strategy is sent to the corresponding hydraulic support controller to execute the support shifting operation.

2. The multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces according to claim 1, characterized in that, The step of associating the real-time sensor data with preset geological data includes: The collected real-time sensor data is preprocessed, including filtering and noise reduction; The filtered and denoised real-time sensor data is unified with the preset geological data in a unified spatiotemporal reference. Under the unified spatiotemporal reference, the real-time data from different sensors are matched and bound with the geological attributes of the corresponding spatial locations in the preset geological data.

3. The multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces according to claim 1, characterized in that, The working condition assessment results include at least one of the following: roof stability assessment results, attitude and slippage trend of the support-surrounding rock system, floor bearing capacity assessment results, and current mining process status identification results.

4. The multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces according to claim 1, characterized in that, Based on the working condition assessment results, the process involves selecting a target moving mode for the hydraulic support from a predefined range of moving modes, and generating a corresponding moving control strategy according to the target moving mode, including: The working condition evaluation results are matched with the triggering conditions of a variety of predefined frame-shifting modes; Based on the matching results, one or more target moving modes are determined for the hydraulic support; Based on one or more determined target frame-shifting modes, the corresponding standard action sequence and parameter configuration rules are invoked to generate a frame-shifting control strategy.

5. The multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces according to claim 4, characterized in that, The triggering conditions include: When the displacement or pressure change rate of the top plate exceeds the first threshold, the wiping and pulling mode is triggered; When the coal seam dip angle exceeds the second threshold, the upward pulling mode or the downward pulling mode is triggered; When the bottom plate is detected to be sinking, the multiple bottom lifting and pulling mode is triggered; When the execution of the top-wiping and pulling mode is blocked, the re-lowering and re-moving pulling mode is triggered.

6. The multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces according to claim 4, characterized in that, The step of generating a frame-shifting control strategy by invoking the corresponding standard action sequence and parameter configuration rules based on one or more determined target frame-shifting modes includes: If a single target moving mode is determined, the standard action sequence corresponding to that mode is invoked, and the control parameters of each action in the sequence are dynamically configured according to the working condition evaluation results to generate a single-mode moving control strategy. If multiple target transfer modes are determined collaboratively, the standard action sequences corresponding to each mode are fused and sorted to generate a composite action sequence. Based on the composite action sequence and the parameter configuration between different modes, a multi-mode collaborative transfer control strategy is generated.

7. The multi-mode support shifting control method for hydraulic supports in fully mechanized mining faces according to claim 6, characterized in that, The standard action sequences corresponding to each mode are fused and sorted to generate a composite action sequence. Based on the composite action sequence and the parameter configurations between different modes, a multi-mode cooperative frame-shifting control strategy is generated, including: Identify repetitive action units in the standard action sequence corresponding to multiple target transfer modes, and merge the repetitive action units; Based on process safety logic and efficiency optimization principles, the merged action units are reordered to generate a composite action sequence; Establish parameter priority rules. When there is a conflict in parameter configuration between different modes, the parameter configuration shall be determined according to the parameter priority rules. The composite action sequence is bound to the parameter configuration to generate the multi-mode collaborative frame-shifting control strategy.

8. A multi-mode moving control device for hydraulic supports in fully mechanized mining faces, characterized in that, include: The association module is used to collect real-time sensor data from the fully mechanized mining face and associate the real-time sensor data with preset geological data. The first generation module is used to generate a condition assessment result that characterizes the current state of the fully mechanized mining face based on the correlated data. The second generation module is used to select a target moving mode for the hydraulic support from a variety of predefined moving modes based on the working condition evaluation results, and generate a corresponding moving control strategy according to the target moving mode. The execution module is used to send the moving control strategy to the corresponding hydraulic support controller to execute the moving operation.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the multi-mode moving control method for hydraulic supports in fully mechanized mining faces as described in any one of claims 1 to 7.

10. A non-transitory readable storage medium having a computer program stored thereon, characterized in that, When executed by a processor, the computer program implements the multi-mode moving control method for hydraulic supports in fully mechanized mining faces as described in any one of claims 1 to 7.

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