Automatic following and moving control method and device for hydraulic support of fully mechanized coal mining face with ultra-large mining space

Abstract

The invention provides an automatic machine following and support moving control method and device for a hydraulic support of a fully mechanized coal mining face with an ultra-large mining space, and the method comprises the steps: dividing the fully mechanized coal mining face of the mining space into a plurality of liquid supply control subareas; predicting a moving track of the coal mining machine, determining a dynamic support moving window based on the moving track, and adjusting the dynamic support moving window; determining a liquid supply capability prediction result according to the state vector corresponding to each hydraulic support, and determining whether the dynamic support moving window is a rapid support moving window or not based on the liquid supply capability prediction result; and based on the support moving organization mode, the hydraulic support is controlled to move in a dynamic support moving window, and liquid supply to the hydraulic support is controlled. The support moving efficiency of the hydraulic support is improved by dynamically organizing the support moving mode based on multi-source information and achieving cross-region cooperative consistency control.

Description

Technical Field

[0001] This application relates to the field of coal mining technology, and in particular to a method and device for automatic following and moving of hydraulic supports in fully mechanized mining faces with ultra-large mining spaces. Background Technology

[0002] The hydraulic support relocation in fully mechanized coal mining faces is a crucial link in ensuring roof control and propulsion efficiency. With the continuous development of intelligent fully mechanized coal mining technology in my country, high-height and ultra-long working faces are gradually increasing. Especially in ultra-large mining spaces with a mining height of 5-6m, a dip length ≥400m, and a propulsion length ≥6000m, the large number of supports, large equipment size, and strong operational coupling place higher demands on the stability of support relocation cycle time, the ability to maintain straightness, and safety interlocking under abnormal operating conditions. While existing electro-hydraulic control systems can achieve automatic single-support movement, sequential support relocation, or fixed group support relocation, they still struggle to simultaneously meet the engineering requirements of "heavy-load rapid support relocation" and "long-distance multi-support coordinated consistency" under conditions of ultra-long distances, multi-zone hydraulic supply, and parallel operation of multiple devices.

[0003] In actual production, ultra-large mining faces are often accompanied by complex geological factors such as undulating floor mud and frequent strong pressure, resulting in a significant increase in the self-weight of the supports, frictional resistance, and eccentric load. Traditional single-support sequential or fixed group support moving methods are prone to problems such as support moving timeouts, support loss, misalignment between supports, and deterioration of straightness. At the same time, the pressure drop of the ultra-long fluid supply pipeline from the pump station to the working face is significant, and the pressure and flow fluctuations in different sections are prominent. When push / support moving and push conveyor moving are combined actions, the fluid supply competition phenomenon can easily cause action instability, forcing the support moving cycle to be passively extended, increasing the roof unsupported time, and reducing the continuity of support. In addition, there is noise interference in downhole positioning and multi-source sensing. Faults such as valve group jamming and communication delay / packet loss are often difficult to form a closed-loop identification and hierarchical interlock of "action-pressure / displacement-attitude consistency" in the existing system, resulting in delayed abnormal handling and insufficient system fault tolerance. Summary of the Invention

[0004] This application aims to at least partially address one of the technical problems in the related art.

[0005] Therefore, this application proposes a method and apparatus.

[0006] One embodiment of this application proposes an automatic follow-the-machine movement control method for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces, including: The fully mechanized mining face of the mining space is divided into multiple fluid supply control zones, and the state vector of each hydraulic support is determined according to the relevant parameters of the hydraulic support in each fluid supply control zone. The movement trajectory of the coal mining machine is predicted based on its current position, speed, and acceleration trend. A dynamic frame shifting window is determined based on the movement trajectory, and the dynamic frame shifting window is adjusted according to the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions. Based on the state vector of each hydraulic support in the dynamic moving window, determine the moving difficulty index and misalignment risk index corresponding to the hydraulic support; Based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, the fluid supply capacity prediction result is determined, and based on the fluid supply capacity prediction result, it is determined whether the dynamic support transfer window is a fast support transfer window. In response to the dynamic moving window being a fast moving window, the moving organization method corresponding to the hydraulic support is determined based on the moving difficulty index, the misalignment risk index, and the liquid supply capacity prediction result. Based on the aforementioned frame-shifting mechanism, the hydraulic support is moved within the dynamic frame-shifting window, and the hydraulic fluid supply to the hydraulic support is also controlled.

[0007] Optionally, adjusting the dynamic frame shifting window based on the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions includes at least one of the following: In response to a decrease in the positioning confidence of the coal mining machine, the dynamic frame shifting window is reduced; In response to an increase in the speed of the coal mining machine, or an increase in the backlog of supports to be moved in the roof conditions, the dynamic support moving window is increased.

[0008] Optionally, the state vector includes: column pressure, balance cylinder pressure, pushing stroke, tilt angle, pitch angle, and communication delay. The step of determining the moving difficulty index and misalignment risk index corresponding to each hydraulic support based on the state vector of each hydraulic support in the dynamic moving window includes: The frame-moving difficulty index is determined based on the rate of change of pushing pressure, the rate of change of column pressure, the rate of decrease of pushing speed, the attitude deviation, and the difference in pushing stroke between adjacent frames in the state vector. The frame-moving difficulty index includes any one of the following: low resistance, medium resistance, and high resistance.

[0009] Optionally, the method further includes: If the misalignment risk index of an adjacent hydraulic support is higher than a preset first risk threshold, the corresponding hydraulic support is marked as a high-risk support.

[0010] Optionally, determining the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, and determining whether the dynamic support transfer window is a fast support transfer window based on the fluid supply capacity prediction result, includes: The predicted liquid supply capacity is determined based on the available flow rate of the pumping station, the release flow rate of the zoned energy storage, and the pipeline pressure drop. In response to the prediction result of the liquid supply capacity indicating that parallel actions within the dynamic pedestal transfer window will result in the liquid supply being lower than the preset liquid supply threshold, or the pipeline pressure drop exceeding the preset pressure drop threshold, or the pedestal transfer timeout risk exceeding the preset second risk threshold, the dynamic pedestal transfer window is determined to be a fast pedestal transfer window.

[0011] Optionally, determining the hydraulic support relocation organization method based on the relocation difficulty index, misalignment risk index, and fluid supply capacity prediction result includes any one of the following: In response to the liquid supply capacity prediction result indicating that the liquid supply is greater than or equal to the preset liquid supply threshold, and the liquid support relocation difficulty index within the dynamic relocation window is low resistance, a first relocation organization method is determined to be adopted, wherein the first relocation organization method includes: parallel relocation of small groups within a partition; In response to the presence of a liquid support with a high resistance indices in the dynamic support relocation window, or the presence of a high-risk support, a second support relocation organization method is determined to be adopted. The second support relocation organization method includes: adopting a sequential strategy of single support priority and adjacent support correction to control that adjacent hydraulic supports cannot be relocated simultaneously. In response to the dynamic support shifting window crossing the partition boundary and the coal mining machine speed exceeding a preset speed threshold, a third support shifting organization method is determined to be adopted. The third support shifting organization method includes: simultaneously selecting small groups of hydraulic supports in adjacent partitions to maintain consistent advance lines.

[0012] Optionally, controlling the movement of the hydraulic support in the dynamic shifting window based on the shifting organization method includes at least one of the following: A moving queue is generated according to the moving organization method, wherein the moving queue includes the set of supports of the action unit, the action sequence, valve opening parameters, ramp parameters, parallel permission, timeout threshold and correction strategy.

[0013] Optionally, the method further includes: When the liquid supply capacity of the liquid supply control zone occupied by the conveyor pusher exceeds the preset capacity threshold, the liquid supply control zone is controlled to enter the flow restriction or parallel reduction mode. When the column pressure of the hydraulic support is higher than the preset high load threshold, the hydraulic support and the adjacent hydraulic support shall not be moved at the same time. When the communication delay exceeds the preset delay threshold or the packet loss rate exceeds the preset packet loss rate threshold, the third rack relocation organization method is disabled and degraded to single rack sequence within the partition.

[0014] Optionally, controlling the fluid supply to the hydraulic support includes: The release ratio and duration of the fluid supply are set according to the number of parallel shift queues, the proportion of high-resistance hydraulic supports within the dynamic shift window, and the pressure drop trend. Open the bypass valve during the start-up phase of the pusher cylinder; Switch the target pressure of the pressure regulating valve group to the rapid operating condition setting value, and limit the speed and amplitude of the pressure fluctuation rise edge.

[0015] Optionally, the method further includes: According to the aforementioned frame-shifting queue, the sequence control of unloading, frame shifting, and column lifting support is performed for each action unit, and the stroke, pressure, and attitude changes are collected in real time. When the action time exceeds the warning threshold, the valve opening is dynamically adjusted or the number of parallel actions is reduced; or, when the misalignment of adjacent hydraulic supports exceeds the preset number threshold, the compensation shift or fine-tuning push of the support on the side with the larger misalignment is triggered first.

[0016] Optionally, the method further includes: The anomaly level is determined based on the anomaly criteria, which include: action timeout, sudden pressure increase, abnormal pressure fluctuation, no displacement response, abnormal rebound, attitude deviation threshold, communication latency exceeding limit, packet loss rate exceeding limit, and node offline. Interlocking control is executed according to the aforementioned anomaly level, including any one of the following: When the abnormality level is Level 1, the single hydraulic support is stopped and the support is maintained. When the anomaly level is level two, the control zone will slow down and reduce the number of parallel racks, and enable single-rack sequence. When the anomaly level is level three, cross-regional collaboration is disabled and liquid supply limitation is triggered. When the anomaly level is level four, an emergency shutdown interlock is triggered and reported.

[0017] Another embodiment of this application proposes an automatic follow-the-machine movement control device for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces, comprising: The state vector construction module is used to divide the fully mechanized mining face of the mining space into multiple fluid supply control zones, and to determine the state vector of each hydraulic support based on the relevant parameters of the hydraulic supports in each fluid supply control zone. The window determination module is used to predict the movement trajectory of the coal mining machine based on its current position, speed, and acceleration trend, determine the dynamic frame shifting window based on the movement trajectory, and adjust the dynamic frame shifting window according to the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions. The calculation module is used to determine the moving difficulty index and misalignment risk index of the hydraulic support based on the state vector of each hydraulic support in the dynamic moving window. The rapid frame relocation determination module is used to determine the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, and to determine whether the dynamic frame relocation window is a rapid frame relocation window based on the fluid supply capacity prediction result. The moving support decision module is used to respond to the dynamic moving support window being a fast moving support window, and to determine the moving support organization method corresponding to the hydraulic support based on the moving support difficulty index, the misalignment risk index and the liquid supply capacity prediction result. The moving support control module is used to control the movement of the hydraulic support in the dynamic moving support window based on the moving support organization method, and to control the fluid supply to the hydraulic support.

[0018] Another embodiment of this application proposes an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing aspect.

[0019] Another embodiment of this application proposes a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the method described in the foregoing aspect.

[0020] Another embodiment of this application proposes a chip including processing circuitry configured to perform the method described in one aspect above.

[0021] Another embodiment of this application proposes a computer program product that, when executed by a processor, implements the method described in the foregoing aspect.

[0022] The automatic following and moving control method, device, electronic equipment, chip, and storage medium for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces proposed in this application can achieve the following beneficial effects: Based on multi-source information such as the position / speed of the coal mining machine, the posture / resistance of the support, the pressure / flow of the pipeline, and the communication quality, the system dynamically organizes the support relocation method and achieves cross-regional coordinated and consistent control. At the same time, it suppresses the impact of pressure drop in long pipelines on the cycle time through rapid fluid supply compensation and pressure stabilization mechanisms, and establishes anomaly closed-loop judgment criteria and hierarchical safety interlocks to achieve a unified improvement in support relocation efficiency, support quality, and safety, thereby meeting the actual needs of intelligent and efficient advancement of fully mechanized mining faces in ultra-large mining spaces.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein: Figure 1 A flowchart illustrating an automatic hydraulic support shifting control method for a fully mechanized mining face with an ultra-large mining space, provided as an embodiment of this application; Figure 2 A schematic diagram of the structure of an automatic hydraulic support following and moving control system for a fully mechanized mining face with an ultra-large mining space provided in this application embodiment; Figure 3 A schematic diagram of the spatial arrangement of the liquid supply and control zones along the inclined direction of the working face provided in an embodiment of this application; Figure 4 A system network topology diagram provided in an embodiment of this application; Figure 5 A schematic diagram of the hydraulic circuit structure of a rapid fluid supply and pressure stabilization unit provided in an embodiment of this application; Figure 6 This is a schematic diagram of a rack-moving organization method and queue scheduling provided in an embodiment of this application; Figure 7 This is a schematic diagram of a rack-moving organization method and queue scheduling provided in an embodiment of this application; Figure 8 This is a schematic diagram illustrating the structural and measurement relationship of a closed-loop correction for inter-rack misalignment provided in an embodiment of this application. Figure 9 Schematic diagram of the deployment structure of the zoned collaborative machine-following frame-shifting system for fully mechanized mining faces in ultra-large mining spaces; Figure 10 Schematic diagram of control parameter thresholds and abnormal classification interlocking closed-loop process; Figure 11 Schematic diagram of dynamic transfer window scheduling and zoned liquid replenishment collaborative control process; Figure 12 A schematic diagram of the structure of an automatic hydraulic support shifting control device for a fully mechanized mining face with an ultra-large mining space provided in this application embodiment; Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application; Figure 14 This is a schematic diagram of the structure of a chip proposed in an embodiment of this application. Detailed Implementation

[0025] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0026] The following description, with reference to the accompanying drawings, describes an embodiment of the automatic following and moving control method, device, electronic equipment, chip, and storage medium for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces.

[0027] Figure 1 This is a flowchart illustrating an automatic follow-the-machine movement control method for hydraulic supports in a fully mechanized mining face with an ultra-large mining space, as provided in an embodiment of this application.

[0028] As one implementation, the automatic follow-the-machine movement control method for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces according to the embodiments of this application can be configured in an automatic follow-the-machine movement control device for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces. This automatic follow-the-machine movement control device for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces can be applied to any electronic device so that the electronic device can perform the automatic follow-the-machine movement control function for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces.

[0029] It should be noted that all data collection operations related to users in this application are conducted with the user's authorization and in strict compliance with relevant laws and regulations such as privacy and security.

[0030] like Figure 1 As shown, the method may include the following steps: Step 101: Divide the fully mechanized mining face of the mining space into multiple fluid supply control zones, and determine the state vector of each hydraulic support according to the relevant parameters of the hydraulic supports in each fluid supply control zone. Step 102: Predict the movement trajectory of the coal mining machine based on its current position, speed, and acceleration trend; determine the dynamic frame shifting window based on the movement trajectory; and adjust the dynamic frame shifting window according to the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions. Step 103: Based on the state vector of each hydraulic support in the dynamic moving window, determine the moving difficulty index and misalignment risk index corresponding to the hydraulic support; Step 104: Determine the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each fluid supply control zone, and determine whether the dynamic support transfer window is a fast support transfer window based on the fluid supply capacity prediction result; Step 105: Responding to the dynamic moving window being a fast moving window, determine the moving organization method corresponding to the hydraulic support based on the moving difficulty index, misalignment risk index, and the fluid supply capacity prediction result; Step 106: Based on the aforementioned frame-shifting organization method, control the movement of the hydraulic support in the dynamic frame-shifting window, and control the fluid supply to the hydraulic support.

[0031] In this embodiment, during the initialization and partition modeling phase, the following parameters are obtained: number of supports N, number of partitions K, support number range for each partition, equivalent length and resistance coefficient of the liquid supply pipeline for each partition, rated pressure and upper limit of flow of the pump station, rated capacity of the accumulator and allowable release flow; state vector of each support is established, which includes at least the column pressure, balance cylinder pressure, pushing stroke, tilt / pitch angle, communication delay and other indicators, and the data is timestamped and validated.

[0032] In this embodiment, the method is implemented based on the automatic follow-up support relocation control system for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces. Figure 2 This is a schematic diagram of the structure of an automatic hydraulic support following and moving control system for a fully mechanized mining face with an ultra-large mining space, provided as an embodiment of this application. Figure 2 As shown, the system includes the following modules, which are connected and cooperate with each other through a work surface control network: Multi-source sensing unit 1 is used to collect and output multi-source data required for control, including: (1) Coal mining machine position and speed information: obtained by inertial navigation and encoder / odometer fusion, or by positioning base stations along the line, and output the pose confidence; (2) Support status information: including at least the stroke of the push cylinder, the pressure of the column, the pressure of the balance cylinder, the tilt / pitch angle of the support, the status of the side guard / telescopic beam, etc.; among which the support status sensors include at least pressure sensors and stroke sensors, and attitude sensors are configured when necessary; (3) Conveyor status information: including push cylinder stroke, chute displacement or head / tail displacement, used for coordinating compound actions; (4) Liquid supply status information: including pump station outlet pressure, zone liquid supply pressure, return pressure, key node pressure and transient flow rate; wherein the liquid supply status sensor includes at least a pressure sensor, and preferably a flow sensor; (5) Communication quality information: including message delay, packet loss rate, and node online status, used for collaborative control and degradation judgment.

[0033] The partition control network and clock synchronization unit 2 are as follows: the working face control network adopts a backbone + branch topology, the support is divided into at least K partitions according to the directional direction, and each partition is equipped with a partition control node; the whole network adopts a unified clock synchronization mechanism to ensure that the action time error of cross-regional collaborative triggering meets the preset threshold, and ensures the consistency of parallel actions and the repeatability of queue scheduling.

[0034] The main controller 3 for machine-assisted frame movement is communicatively connected to the coal mining machine controller, pump station controller, and electro-hydraulic control controllers of each support, and is used for: (1) Construct a follow-up rack transfer state model and maintain partition parameters and a global queue; (2) Generate a dynamic frame-shifting window and frame-shifting queue, and output the action sequence, parallel permission and valve control parameters; (3) Calculate valve opening, action timeout threshold, parallel action permission, and misalignment correction trigger conditions for each aircraft / group; (4) Receive execution feedback and perform closed-loop correction and adaptive parameter update.

[0035] The bracket electro-hydraulic controller 4 is used to control the movement of each hydraulic bracket.

[0036] Pump station controller 5 is used to control the liquid supply process of the pump station.

[0037] Rapid liquid supply and pressure stabilization unit 6, installed in the working face liquid supply system, includes at least: (1) Zoned energy storage module: Each zone is equipped with an accumulator group or hydraulic energy storage device, which is connected to the zone's main liquid supply pipe for transient flow increase during the window period; (2) Bypass flow boosting module: including an electronically controlled bypass valve and a throttling component, used to reduce local pressure drop and improve flow ramp-up during the push / move start-up phase; (3) Zone pressure stabilization module: including proportional relief valve / pressure reducing valve / pressure stabilizing valve group, which limits and stabilizes the fluctuation of liquid supply pressure in the zone; (4) Fast switching control module: Based on the fast moving window command output by the main controller, it performs energy storage release, bypass opening and closing and voltage stabilization target switching, and supports energy replenishment management.

[0038] The anomaly identification and safety interlocking unit 7 is used to identify action timeouts, pressure anomalies, displacement anomalies, posture anomalies, and communication anomalies, and to execute interlocks according to a hierarchical strategy. (1) Single-frame shutdown and maintenance support; (2) The zoned speed limit and the number of parallel operations decreased, degenerating into a single-rack sequence; (3) Disabling cross-regional collaboration and system downgrading; (4) When necessary, trigger emergency shutdown and safety interlock and report to form a closed-loop safety control link.

[0039] Figure 3 This is a schematic diagram illustrating the spatial arrangement of liquid supply and control zones along the inclined direction of a working surface, as provided in an embodiment of this application. Figure 3As shown, the working face 10 includes a hydraulic support group 11. The hydraulic supply to each hydraulic support in each supply and control zone is controlled by a corresponding zone hydraulic supply main pipe. The coal mining machine 14 moves along the working face to mine coal. The hydraulic supports of the coal mining face are the core support equipment for fully mechanized coal mining. Their core function is to achieve mechanized support and management of the roof of the coal mining face using hydraulic power, while creating a safe and stable working space for coal mining operations. They work in conjunction with the coal mining machine and scraper conveyor to complete continuous coal mining operations, replacing the traditional method of manually erecting single supports. This is crucial for ensuring safe production and improving coal mining efficiency at the working face. The hydraulic supports can be quickly moved and pushed (pushing the scraper conveyor to the coal face) through the hydraulic system. They can move synchronously with the coal cutting speed of the coal mining machine, completing the "coal cutting-support moving-sliding" cycle operation. This achieves coordinated operation of the coal mining machine, scraper conveyor, and hydraulic supports, ensuring continuous and mechanized coal mining at the fully mechanized working face and significantly improving coal mining efficiency.

[0040] The dynamic moving window W15 contains the hydraulic supports that need to be moved, i.e. the set of supports to be moved. The length of the window changes adaptively with speed / confidence. When the dynamic moving window W spans two zones (as shown in Figure 17), cross-regional collaborative moving is required.

[0041] Figure 4 This is a system network topology diagram provided as an embodiment of this application. For example... Figure 4 As shown, the working face control network adopts a backbone + branch topology. The support is divided into at least K partitions according to the directional direction, and each partition is equipped with 22-k partition control nodes. The entire network adopts a unified clock synchronization mechanism to ensure that the action time error of cross-regional collaborative triggering meets the preset threshold, thus ensuring the consistency of parallel actions and the repeatability of queue scheduling.

[0042] Figure 5 This is a schematic diagram of the hydraulic circuit structure of a rapid fluid supply and pressure stabilization unit provided in an embodiment of this application. Figure 5 As shown, this includes: pump station 30; supply main 31; pressure sensor 32-1 for measuring pump station outlet pressure; flow sensor 32-2 (optional); zone supply main 33-k (k=1…K); zone pressure sensor 34-k (k=1…K); zone accumulator group 35-k (k=1…K); check valve 35-1; electrically controlled release valve 35-2; electrically controlled bypass valve 36-1; throttling assembly 36-2; zone pressure regulating valve group 37-k (k=1…K); proportional relief valve / pressure reducing valve 37-1 (sub-element); pressure regulating valve 37-2 (sub-element) for target pressure switching and rising edge speed limiting; bracket valve group / actuator assembly 38-k (k=1…K); return pipe 39; return pressure sensor 39-1. The transient flow increase direction during the window period is shown by the arrow.

[0043] Optionally, adjusting the dynamic frame shifting window based on the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions includes at least one of the following: In response to a decrease in the positioning confidence of the coal mining machine, the dynamic frame shifting window is reduced; In response to an increase in the speed of the coal mining machine, or an increase in the backlog of supports to be moved in the roof conditions, the dynamic support moving window is increased.

[0044] In this embodiment, the trajectory within the predicted time window is calculated based on the current position, speed, and acceleration trend of the coal mining machine; a dynamic moving frame window W is formed by a preset distance interval behind the coal mining machine. The window adaptively expands and contracts with the speed of the coal mining machine, the position confidence level, and the roof conditions: when the position confidence level decreases, the window is reduced and the number of parallel operations is decreased; when the speed of the coal mining machine increases or the backlog of moving frames increases, the window is appropriately expanded to avoid cycle congestion.

[0045] Optionally, the state vector includes: column pressure, balance cylinder pressure, pushing stroke, tilt angle, pitch angle, and communication delay. The step of determining the moving difficulty index and misalignment risk index corresponding to each hydraulic support based on the state vector of each hydraulic support in the dynamic moving window includes: The frame-moving difficulty index is determined based on the rate of change of pushing pressure, the rate of change of column pressure, the rate of decrease of pushing speed, the attitude deviation, and the difference in pushing stroke between adjacent frames in the state vector. The frame-moving difficulty index includes any one of the following: low resistance, medium resistance, and high resistance.

[0046] In this embodiment, the difficulty index of moving each frame within the window is calculated. Factors such as the rate of change of pushing pressure / column pressure, the decrease in pushing speed, the amount of attitude deviation, and the difference in pushing stroke between adjacent frames are taken into account to obtain a low-resistance / medium-resistance / high-resistance classification. At the same time, the misalignment risk index is calculated, and adjacent frames with misalignment risk are marked to provide a basis for subsequent organization method selection and correction.

[0047] Optionally, the method further includes: If the misalignment risk index of an adjacent hydraulic support is higher than a preset first risk threshold, the corresponding hydraulic support is marked as a high-risk support.

[0048] Optionally, determining the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, and determining whether the dynamic support transfer window is a fast support transfer window based on the fluid supply capacity prediction result, includes: The predicted liquid supply capacity is determined based on the available flow rate of the pumping station, the release flow rate of the zoned energy storage, and the pipeline pressure drop. In response to the prediction result of the liquid supply capacity indicating that parallel actions within the dynamic pedestal transfer window will result in the liquid supply being lower than the preset liquid supply threshold, or the pipeline pressure drop exceeding the preset pressure drop threshold, or the pedestal transfer timeout risk exceeding the preset second risk threshold, the dynamic pedestal transfer window is determined to be a fast pedestal transfer window.

[0049] In this embodiment, the available flow rate of the integrated pump station, the release flow rate of the zoned energy storage, and the pipeline pressure drop are used to calculate the liquid supply capacity index and pressure drop trend for each zone. When it is predicted that parallel actions within the window will lead to insufficient liquid supply, excessive pressure drop, or the risk of timeout for relocation exceeding the threshold, it is determined that the rapid relocation window period has been entered, allowing the triggering of energy storage release, bypass flow increase, and pressure stabilization target switching.

[0050] Optionally, determining the hydraulic support relocation organization method based on the relocation difficulty index, misalignment risk index, and fluid supply capacity prediction result includes any one of the following: In response to the liquid supply capacity prediction result indicating that the liquid supply is greater than or equal to the preset liquid supply threshold, and the liquid support relocation difficulty index within the dynamic relocation window is low resistance, a first relocation organization method is determined to be adopted, wherein the first relocation organization method includes: parallel relocation of small groups within a partition; In response to the presence of a liquid support with a high resistance indices in the dynamic support relocation window, or the presence of a high-risk support, a second support relocation organization method is determined to be adopted. The second support relocation organization method includes: adopting a sequential strategy of single support priority and adjacent support correction to control that adjacent hydraulic supports cannot be relocated simultaneously. In response to the dynamic support shifting window crossing the partition boundary and the coal mining machine speed exceeding a preset speed threshold, a third support shifting organization method is determined to be adopted. The third support shifting organization method includes: simultaneously selecting small groups of hydraulic supports in adjacent partitions to maintain consistent advance lines.

[0051] Optionally, controlling the movement of the hydraulic support in the dynamic shifting window based on the shifting organization method includes at least one of the following: A transfer queue is generated according to the described transfer organization method, wherein the transfer queue contains a set of support structures for action units. In this embodiment, Figure 6 This is a schematic diagram of a rack-moving organization method and queue scheduling provided in an embodiment of this application, as shown below. Figure 6 As shown, the tissue method is adaptively selected based on stent resistance classification and fluid supply capacity prediction: (1) When the liquid supply is sufficient and the resistance within the window is low, the parallel shifting of small groups within the zone is adopted. (2) When there is a significant risk of high resistance support or misalignment, adopt the sequential strategy of "single support priority + adjacent support correction" and restrict the simultaneous movement of adjacent supports; (3) When the window crosses the partition boundary and the coal mining machine speed is high, cross-regional coordination is adopted: small groups are selected in adjacent partitions at the same time to keep the advance line consistent.

[0052] This generates a shift queue, whose elements include the set of supports for the action unit, the action sequence, valve opening / ramp parameters, parallel permission, timeout threshold, and correction strategy.

[0053] Optionally, the method further includes: When the liquid supply capacity of the liquid supply control zone occupied by the conveyor pusher exceeds the preset capacity threshold, the liquid supply control zone is controlled to enter the flow restriction or parallel reduction mode. When the column pressure of the hydraulic support is higher than the preset high load threshold, the hydraulic support and the adjacent hydraulic support shall not be moved at the same time. When the communication delay exceeds the preset delay threshold or the packet loss rate exceeds the preset packet loss rate threshold, the third rack relocation organization method is disabled and degraded to single rack sequence within the partition.

[0054] In this embodiment, for the parallel scenario of combined pushing-shifting-pushing actions, parallel action permission rules are set: when the conveyor pushing slide occupies the liquid supply capacity of the zone exceeding the threshold, the shifting of the zone enters the flow restriction or parallel reduction mode; when the support column pressure is above the high load threshold, it is prohibited to shift the support simultaneously with the adjacent support to reduce off-center load and misalignment; when the communication latency or packet loss rate exceeds the limit, cross-zone coordination is disabled and degraded to single-support sequence within the zone to ensure control reachability and safety boundaries.

[0055] Optionally, controlling the fluid supply to the hydraulic support includes: The release ratio and duration of the fluid supply are set according to the number of parallel shift queues, the proportion of high-resistance hydraulic supports within the dynamic shift window, and the pressure drop trend. Open the bypass valve during the start-up phase of the pusher cylinder; Switch the target pressure of the pressure regulating valve group to the rapid operating condition setting value, and limit the speed and amplitude of the pressure fluctuation rise edge.

[0056] In this embodiment, during the rapid pallet transfer window, the main controller sends control commands to the rapid liquid supply and pressure stabilization unit: (1) Zoned energy storage and release: The release ratio and duration are set according to the number of parallel queues, the proportion of high resistance within the window, and the pressure drop trend; (2) Bypass flow enhancement: Open the bypass valve during the start-up phase of the push cylinder to reduce transient pressure drop and flow ramp-up time; (3) Zoned pressure stabilization: Switch the target pressure of the pressure stabilizing valve group to the rapid working condition setting value, and limit the speed and amplitude of the pressure fluctuation rise edge.

[0057] During non-fast window periods, the energy storage module enters a replenishment state, while the voltage regulator module maintains normal settings to reduce energy consumption and component heat load.

[0058] Optionally, the method further includes: According to the aforementioned frame-shifting queue, the sequence control of unloading, frame shifting, and column lifting support is performed for each action unit, and the stroke, pressure, and attitude changes are collected in real time. When the action time exceeds the warning threshold, the valve opening is dynamically adjusted or the number of parallel actions is reduced; or, when the misalignment of adjacent hydraulic supports exceeds the preset number threshold, the compensation shift or fine-tuning push of the support on the side with the larger misalignment is triggered first.

[0059] In this embodiment, the execution control and action closed-loop correction are performed. The sequence control of unloading-moving frame-lifting support is performed on each action unit according to the queue, and the stroke, pressure and attitude changes are collected in real time. When the action time is close to the warning threshold, the valve opening is dynamically adjusted or the number of parallel actions is reduced. When the misalignment of adjacent frames exceeds the threshold, the compensation frame movement or fine-tuning push of the support on the side with larger misalignment is triggered first to achieve closed-loop correction of straightness and attitude consistency.

[0060] Optionally, the method further includes: The anomaly level is determined based on the anomaly criteria, which include: action timeout, sudden pressure increase, abnormal pressure fluctuation, no displacement response, abnormal rebound, attitude deviation threshold, communication latency exceeding limit, packet loss rate exceeding limit, and node offline. Interlocking control is executed according to the aforementioned anomaly level, including any one of the following: When the anomaly level is Level 1, the single hydraulic support is stopped and maintained; this is achieved by controlling the support controller.

[0061] When the anomaly level is level two, the control partition slows down and reduces the number of parallel racks, and enables single-rack sequence; this is achieved by controlling the main controller to rearrange the queue.

[0062] When the anomaly level is level three, cross-regional collaboration is disabled and liquid supply limitation is triggered; this is achieved by controlling the switching of the rapid liquid supply unit.

[0063] When the anomaly level is four, an emergency stop interlock is triggered and reported. This is achieved through the control alarm / reporting interface.

[0064] In this embodiment, Figure 7 This is a schematic diagram of a rack-moving organization method and queue scheduling provided in an embodiment of this application, as shown below. Figure 7 As shown, the system uses data such as action time, pressure characteristics, displacement characteristics, posture consistency, and communication quality, combined with corresponding thresholds, to classify and determine the anomaly level, and then determines the corresponding safety interlocking strategy based on the anomaly level.

[0065] Optionally, the method further includes: recording indicators such as the shifting cycle, number of timeouts, pressure drop fluctuation amplitude, number of misalignment corrections, and strong pressure events; and updating the threshold, upper limit of parallel quantity, pressure stabilization target, energy storage release strategy, and window length based on the statistical results, so that the control parameters adapt to the drift of the base plate conditions and pipeline operating conditions.

[0066] Figure 8 This is a schematic diagram illustrating the structural and measurement relationship of a closed-loop correction for inter-rack misalignment provided in an embodiment of this application. Figure 8 As shown, when the misalignment between adjacent frames exceeds the threshold, the compensation shift or fine-tuning shift of the frame on the side with the larger misalignment is triggered first, so as to achieve closed-loop correction of straightness and attitude consistency.

[0067] The stroke of the two support cylinders is collected in real time, and the stroke difference ΔS is calculated.

[0068] Simultaneously monitor the tilt angle θ (97-1) of support i and the pitch angle (97-2) of support i+1 to reflect the deviation of the support attitude from the ideal propulsion line.

[0069] Graded correction trigger Small deviation (ΔS1<ΔS≤ΔS2): Triggers the fine-tuning of bracket i, adjusts its position within a small range through the push cylinder 91-1, corrects the tilt angle θ, and aligns the straightness target 95-1 of bracket i with the reference line 95.

[0070] Large deviation (ΔS>ΔS2): Trigger the compensation shift of support i+1, adjust the position through the push cylinder 91-2, correct the pitch angle, eliminate the large misalignment between the supports, and realign the two supports.

[0071] In one possible embodiment, Figure 9 A schematic diagram of the deployment structure of the zoned collaborative machine-mounted relocation system for fully mechanized mining faces in ultra-large mining spaces, as shown below. Figure 9 As shown, in this embodiment, in a working face with a mining height of 5-6m, a dip length of approximately 400-420m, and an advance length ≥6000m, the center-to-center distance of the supports is 2.4m, and the number of supports N can be 160-170. The supports are divided into K=8-12 zones according to the fluid supply and control load, preferably K=10, with approximately 16 supports in each zone. The working face control network uses an industrial Ethernet ring network as the backbone, and the zone nodes are connected to the support electro-hydraulic control controller through a branch network. The main controller communicates bidirectionally with the coal mining machine controller and the pump station controller, and uses a unified clock for synchronization, so that the cross-zone collaborative triggering time error is controlled within a preset range.

[0072] The rated pressure of the pump station for the liquid supply system is preferably 37.5 MPa, and the total rated flow rate can be approximately 2500 L / min. The length of the main liquid supply pipeline from the pump station to the working face can reach approximately 6000 m, and the length of the main liquid supply pipeline along the dip direction within the working face is approximately 400 m. The main pipe diameter can be DN65, and the branch pipe diameter can be DN40. Each zone is equipped with an accumulator group with a total equivalent volume of 100-200 L and a pre-charge pressure of 0.6-0.75 times the system rated pressure. The transient compensation flow rate for each zone can be 400 L / min, with a duration of approximately 6 seconds, to cover the push cylinder from start-up to stable movement. The zone pressure stabilizing valve group adopts proportional control and has pressure rise edge speed limiting and amplitude limiting functions; the bypass flow booster valve is used for short-term bypass during the start-up phase to reduce pressure drop peaks.

[0073] Figure 10 A schematic diagram of the control parameter threshold and the interlocking closed-loop process for anomaly classification, as shown below. Figure 10 As shown, in this embodiment, the main controller scheduling cycle is 100ms, the local pressure / displacement closed-loop cycle of the support is 20ms; the cross-regional collaboration latency upper limit is 100ms, and the short-term packet loss rate threshold is 3%. If the threshold is exceeded, cross-regional collaboration is disabled and the number of parallel operations is reduced.

[0074] The timeout threshold for frame movement is set in stages: Early warning threshold T1 is set to 14 seconds, used to trigger valve opening adjustment and parallel reduction; timeout threshold T2 is set to 17 seconds, used to trigger single-frame shutdown or zone downgrade. Misalignment thresholds are characterized by the difference in travel distance between adjacent supports: a slight misalignment threshold ΔS1 of 100 mm triggers fine-tuning; a severe misalignment threshold ΔS2 of 200 mm triggers compensating frame movement and restricts parallel movement. Attitude deviation thresholds: tilt angle deviation ±3°, pitch angle deviation ±2.5°, used as criteria for eccentric load risk assessment and participating in the selection of organizational methods.

[0075] The strong pressure determination adopts a joint criterion of column pressure, pressure surge rate, and spatial consistency: when the column pressure exceeds 0.9 times the rated working pressure and the pressure surge rate exceeds the set threshold, and reaches the proportional condition in multiple adjacent frames and lasts for 2 seconds, it is determined to be a zoned strong pressure event; the interlocking strategy is as follows: Level 1 prohibits parallel movement of high-resistance frames, increases the pressure stabilization target, and restricts parallel pushing and sliding; Level 2 stops cross-zone coordination and suspends frame movement within the window, prioritizing column lifting for pressure maintenance and attitude correction; Level 3 triggers safety interlocking and reports.

[0076] Figure 11 A schematic diagram of the dynamic transfer window scheduling and zoned liquid replenishment collaborative control process, as shown below. Figure 11 As shown, when the coal mining machine speed exceeds the set threshold and the number of supports to be moved within the window exceeds the threshold, the system will appropriately expand the support moving window W, and prioritize the selection of low-resistance supports to form small groups of 2 to 4 supports in parallel within the window; if the liquid supply capacity prediction shows that the zonal pressure drop trend exceeds the threshold (e.g., Δp), the system will further expand the support moving window W, and prioritize the selection of low-resistance supports within the window to form small groups of 2 to 4 supports in parallel. k=5MPa), then enter the rapid shifting window period: the energy storage of the partition is set according to the parallel number and the high resistance ratio to release ratio. During the start-up phase of the push cylinder, the bypass valve is opened for 3-10 seconds, and the partition stabilization target is switched to the rapid set value, thereby shortening the time of the key stage of push / shifting.

[0077] When a delayed displacement response and a sudden increase in displacement pressure are detected in a certain frame, and the action time is close to T1, the system reduces the number of parallel operations in that zone and increases the valve opening ramp-up time for that frame to achieve a soft start. If the operation is not completed after T2, a first-level interlock is triggered: the frame stops and remains supported, the queue is rearranged, and adjacent frames take corrective actions to maintain the consistency of the advance line. If a decrease in communication quality causes the cross-zone collaborative triggering delay to exceed the limit, the system automatically degrades to single-frame sequence within the zone until communication is restored, at which point the collaborative strategy is restored.

[0078] The above embodiments can achieve the following beneficial effects: Advantages of the invention 1. By dividing the ultra-long working surface into liquid supply and control zones and introducing a unified clock for synchronization, consistency in cross-zone action triggering is achieved, reducing the risk of phase error and straightness degradation during long-distance collaborative frame movement.

[0079] 2. A dynamic frame shifting window is generated based on the predicted position and speed of the coal mining machine. It adapts and expands according to the working conditions, avoiding local congestion and cycle mismatch caused by fixed groups, and reducing the passive extension of the roof empty time.

[0080] 3. Construct an evaluation index for resistance and attitude consistency, classify and handle risks of high resistance, off-center load and misalignment, and prioritize the protection of support quality and the stability of the advance line under heavy load base conditions.

[0081] 4. It provides an adaptive organization mode for single-rack / small group / cross-regional collaboration, which can improve parallel efficiency when the liquid supply is sufficient, and automatically converge the parallel range when there is high resistance or misalignment risk.

[0082] 5. A transient compensation mechanism combining zoned energy storage and release, bypass flow boosting, and zoned pressure stabilization is adopted to suppress the impact of pressure drop and flow fluctuations in ultra-long pipelines on the push-start phase and shorten the critical action time.

[0083] 6. Set parallel permission rules for the push-shift-move-push-slide composite action, and dynamically limit the flow and reduce parallelism according to the liquid supply capacity and high load status to avoid action instability and concentrated timeout caused by liquid supply preemption.

[0084] 7. Establish a joint anomaly criterion of action time, pressure / displacement response, attitude consistency, and communication quality to improve the robustness of anomaly identification and reduce frequent shutdowns caused by misjudgment of a single threshold.

[0085] 8. By adopting a graded safety interlock and degradation control strategy, the risk spread can be limited in scenarios such as valve group jamming, sudden increase in base plate resistance, and communication disturbance, so as to maintain support and controllable production rhythm.

[0086] 9. Introduce closed-loop correction control for misalignment, triggering fine-tuning or compensation for frame shifting based on the travel difference and attitude difference between adjacent frames, reducing the probability of misalignment between frames, interference of the scraper conveyor, and deterioration of straightness.

[0087] 10. By recording data and updating adaptive parameters, the window length, parallel limit, voltage stabilization target and energy storage release strategy are automatically adjusted as the operating conditions evolve, improving the adaptability of long-term operation and the feasibility of engineering implementation.

[0088] To achieve the above embodiments, this application also proposes an automatic follow-the-machine movement control device for hydraulic supports in fully mechanized mining faces with ultra-large mining spaces.

[0089] Figure 12 This is a schematic diagram of the structure of an automatic hydraulic support shifting control device for a fully mechanized mining face with an ultra-large mining space, provided as an embodiment of this application.

[0090] like Figure 12 As shown, the device may include: The state vector construction module 1210 is used to divide the fully mechanized mining face of the mining space into multiple fluid supply control zones, and to determine the state vector of each hydraulic support according to the relevant parameters of the hydraulic support in each fluid supply control zone. The window determination module 1220 is used to predict the movement trajectory of the coal mining machine based on its current position, speed and acceleration trend, determine the dynamic frame shifting window based on the movement trajectory, and adjust the dynamic frame shifting window according to the coal mining machine speed, the coal mining machine positioning confidence and the roof conditions. The calculation module 1230 is used to determine the moving difficulty index and misalignment risk index of the hydraulic support based on the state vector of each hydraulic support in the dynamic moving window. The rapid frame relocation determination module 1240 is used to determine the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each fluid supply control zone, and to determine whether the dynamic frame relocation window is a rapid frame relocation window based on the fluid supply capacity prediction result. The moving support decision module 1250 is used to respond to the dynamic moving support window being a fast moving support window, and to determine the moving support organization method corresponding to the hydraulic support based on the moving support difficulty index, the misalignment risk index and the liquid supply capacity prediction result. The moving support control module 1260 is used to control the movement of the hydraulic support in a dynamic moving support window based on the moving support organization method, and to control the fluid supply to the hydraulic support.

[0091] It should be noted that the foregoing explanation of the method embodiments also applies to the apparatus of this embodiment, and will not be repeated here.

[0092] To implement the above embodiments, this application also proposes a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the method described in the foregoing method embodiments.

[0093] To implement the above embodiments, this application also proposes a computer program product having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method described in the foregoing method embodiments.

[0094] To implement the above embodiments, this application also proposes an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method described in the foregoing method embodiments.

[0095] Figure 13 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. For example, the electronic device 800 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0096] Reference Figure 13 The electronic device 800 may include one or more of the following components: processing component 802, memory 804, power component 806, multimedia component 808, audio component 810, input / output (I / O) interface 812, sensor component 814, and communication component 816.

[0097] Processing component 802 typically controls the overall operation of electronic device 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording operations. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0098] Memory 804 is configured to store various types of data to support the operation of electronic device 800. Examples of such data include instructions for any application or method operating on electronic device 800, contact data, phonebook data, messages, pictures, videos, etc. Memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0099] Power component 806 provides power to various components of electronic device 800. Power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 800.

[0100] Multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the electronic device 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0101] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when electronic device 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, audio component 810 also includes a speaker for outputting audio signals.

[0102] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, power buttons, and lock buttons.

[0103] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of electronic device 800. For example, sensor assembly 814 can detect the on / off state of electronic device 800, the relative positioning of components such as the display and keypad of electronic device 800, changes in position of electronic device 800 or a component of electronic device 800, the presence or absence of user contact with electronic device 800, orientation or acceleration / deceleration of electronic device 800, and temperature changes of electronic device 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0104] Communication component 816 is configured to facilitate wired or wireless communication between electronic device 800 and other devices. Electronic device 800 can access wireless networks based on communication standards, such as WiFi, 4G, or 5G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0105] In an exemplary embodiment, the electronic device 800 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0106] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, which can be executed by a processor 820 of an electronic device 800 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0107] To implement the above embodiments, this application also proposes a chip, including: the chip includes a processing circuit configured to perform the methods provided in the foregoing embodiments.

[0108] Figure 14 This is a schematic diagram of the structure of a chip according to an embodiment of this application. See also... Figure 14 The diagram shown is a schematic representation of the structure of chip 1100, but it is not limited to this.

[0109] Chip 1100 includes processing circuitry 1101, which is configured to perform any of the above methods.

[0110] In some embodiments, chip 1100 further includes one or more interface circuits 1102. Optionally, the interface circuit 1102 is connected to memory 1103, and the interface circuit 1102 can be used to receive signals from memory 1103 or other devices, and the interface circuit 1102 can be used to send signals to memory 1103 or other devices. For example, the interface circuit 1102 can read instructions stored in memory 1103 and send the instructions to processing circuit 1101.

[0111] In some embodiments, the interface circuit 1102 performs at least one of the communication steps such as sending and / or receiving in the above method, while the processing circuit 1101 performs other steps.

[0112] In some embodiments, the terms interface circuit, interface, transceiver pin, transceiver, etc., can be used interchangeably.

[0113] In some embodiments, chip 1100 further includes one or more memories 1103 for storing instructions. Optionally, all or part of the memories 1103 may be located outside of chip 1100.

[0114] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. 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.

[0115] 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 application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0116] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0117] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of computer-readable media include: an electrical connection having one or more wires (electronic device), a portable computer disk drive (magnetic device), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Alternatively, the computer-readable medium may be paper or other suitable media on which the program can be printed, since the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in a computer memory.

[0118] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0119] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

[0120] Furthermore, the functional units in the various embodiments of this application can be integrated into a processing module, or each unit can exist physically separately, or two or more units can be integrated into a module. The integrated module can be implemented in hardware or as a software functional module. If the integrated module is implemented as a software functional module and sold or used as an independent product, it can also be stored in a computer-readable storage medium.

[0121] The storage medium mentioned above can be a read-only memory, a disk, or an optical disk, etc. Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of this application.

Claims

1. A method for controlling the automatic following and moving of hydraulic supports in a fully mechanized mining face with ultra-large mining space, characterized in that, include: The fully mechanized mining face of the mining space is divided into multiple fluid supply control zones, and the state vector of each hydraulic support is determined according to the relevant parameters of the hydraulic support in each fluid supply control zone. The movement trajectory of the coal mining machine is predicted based on its current position, speed, and acceleration trend. A dynamic frame shifting window is determined based on the movement trajectory, and the dynamic frame shifting window is adjusted according to the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions. Based on the state vector of each hydraulic support in the dynamic moving window, determine the moving difficulty index and misalignment risk index corresponding to the hydraulic support; Based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, the fluid supply capacity prediction result is determined, and based on the fluid supply capacity prediction result, it is determined whether the dynamic support transfer window is a fast support transfer window. In response to the dynamic moving window being a fast moving window, the moving organization method corresponding to the hydraulic support is determined based on the moving difficulty index, the misalignment risk index, and the liquid supply capacity prediction result. Based on the aforementioned frame-shifting mechanism, the hydraulic support is moved within the dynamic frame-shifting window, and the hydraulic fluid supply to the hydraulic support is also controlled.

2. The method according to claim 1, characterized in that, The adjustment of the dynamic frame shifting window based on the coal mining machine speed, the coal mining machine positioning reliability, and the roof conditions includes at least one of the following: In response to a decrease in the positioning confidence of the coal mining machine, the dynamic frame shifting window is reduced; In response to an increase in the speed of the coal mining machine, or an increase in the backlog of supports to be moved in the roof conditions, the dynamic support moving window is increased.

3. The method according to claim 1, characterized in that, The state vector includes: column pressure, balance cylinder pressure, pushing stroke, tilt angle, pitch angle, and communication delay. Based on the state vectors of each hydraulic support in the dynamic shifting window, the shifting difficulty index and misalignment risk index corresponding to each hydraulic support are determined, including: The frame-moving difficulty index is determined based on the rate of change of pushing pressure, the rate of change of column pressure, the rate of decrease of pushing speed, the attitude deviation, and the difference in pushing stroke between adjacent frames in the state vector. The frame-moving difficulty index includes any one of the following: low resistance, medium resistance, and high resistance.

4. The method according to claim 3, characterized in that, The method further includes: If the misalignment risk index of an adjacent hydraulic support is higher than a preset first risk threshold, the corresponding hydraulic support is marked as a high-risk support.

5. The method according to claim 4, characterized in that, The step of determining the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, and determining whether the dynamic support transfer window is a fast support transfer window based on the fluid supply capacity prediction result, includes: The predicted liquid supply capacity is determined based on the available flow rate of the pumping station, the release flow rate of the zoned energy storage, and the pipeline pressure drop. In response to the prediction result of the liquid supply capacity indicating that parallel actions within the dynamic pedestal transfer window will result in the liquid supply being lower than the preset liquid supply threshold, or the pipeline pressure drop exceeding the preset pressure drop threshold, or the pedestal transfer timeout risk exceeding the preset second risk threshold, the dynamic pedestal transfer window is determined to be a fast pedestal transfer window.

6. The method according to claim 5, characterized in that, The step of determining the hydraulic support relocation organization method based on the relocation difficulty index, the misalignment risk index, and the fluid supply capacity prediction result includes any one of the following: In response to the liquid supply capacity prediction result indicating that the liquid supply is greater than or equal to the preset liquid supply threshold, and the liquid support relocation difficulty index within the dynamic relocation window is low resistance, a first relocation organization method is determined to be adopted; wherein, the first relocation organization method includes: parallel relocation of small groups within a partition; In response to the presence of a high-resistance liquid support within the dynamic support relocation window, or the presence of a high-risk support, a second support relocation organization method is determined to be adopted; wherein, the second support relocation organization method includes: adopting a single-support priority and adjacent support correction sequential strategy to control that adjacent hydraulic supports cannot be relocated simultaneously; In response to the dynamic support shifting window crossing the partition boundary and the coal mining machine speed exceeding a preset speed threshold, a third support shifting organization method is determined to be adopted; wherein, the third support shifting organization method includes: simultaneously selecting small groups of hydraulic supports in adjacent partitions to maintain consistent advance lines.

7. The method according to claim 6, characterized in that, The method of controlling the movement of the hydraulic support in the dynamic shifting window based on the aforementioned shifting mechanism includes at least one of the following: A moving queue is generated according to the moving organization method, wherein the moving queue includes the set of support for the action unit, the action sequence, valve opening parameters, ramp parameters, parallel permission, timeout threshold and correction strategy.

8. The method according to claim 7, characterized in that, The method further includes: When the liquid supply capacity of the liquid supply control zone occupied by the conveyor pusher exceeds the preset capacity threshold, the liquid supply control zone is controlled to enter the flow restriction or parallel reduction mode. When the pressure on the hydraulic support column exceeds the preset high load threshold, the hydraulic support and the adjacent hydraulic support shall not be moved at the same time. When the communication delay exceeds the preset delay threshold or the packet loss rate exceeds the preset packet loss rate threshold, the third rack relocation organization method is disabled and degraded to single rack sequence within the partition.

9. The method according to claim 8, characterized in that, The control of the fluid supply to the hydraulic support includes: The release ratio and duration of the fluid supply are set according to the number of parallel shift queues, the proportion of high-resistance hydraulic supports within the dynamic shift window, and the pressure drop trend. Open the bypass valve during the start-up phase of the pusher cylinder; Switch the target pressure of the pressure regulating valve group to the rapid operating condition setting value, and limit the speed and amplitude of the pressure fluctuation rise edge.

10. The method according to claim 9, characterized in that, The method further includes: According to the aforementioned frame-shifting queue, the sequence control of unloading, frame shifting, and column lifting support is performed for each action unit, and the stroke, pressure, and attitude changes are collected in real time. When the action time exceeds the warning threshold, the valve opening is dynamically adjusted or the number of parallel actions is reduced; or, when the misalignment of adjacent hydraulic supports exceeds the preset number threshold, the compensation shift or fine-tuning push of the support on the side with the larger misalignment is triggered first.

11. The method according to claim 10, characterized in that, The method further includes: The anomaly level is determined based on the anomaly criteria, which include: action timeout, sudden pressure increase, abnormal pressure fluctuation, no displacement response, abnormal rebound, attitude deviation threshold, communication latency exceeding limit, packet loss rate exceeding limit, and node offline. Interlocking control is executed according to the aforementioned anomaly level, including any one of the following: When the abnormality level is Level 1, the single hydraulic support is stopped and the support is maintained. When the anomaly level is level two, the control zone will slow down and reduce the number of parallel racks, and enable single-rack sequence. When the anomaly level is level three, cross-regional collaboration is disabled and liquid supply limitation is triggered. When the anomaly level is level four, an emergency shutdown interlock is triggered and reported.

12. An automatic following and moving control device for hydraulic supports in a fully mechanized mining face with ultra-large mining space, characterized in that, include: The state vector construction module is used to divide the fully mechanized mining face of the mining space into multiple fluid supply control zones, and to determine the state vector of each hydraulic support based on the relevant parameters of the hydraulic supports in each fluid supply control zone. The window determination module is used to predict the movement trajectory of the coal mining machine based on its current position, speed, and acceleration trend, determine the dynamic frame shifting window based on the movement trajectory, and adjust the dynamic frame shifting window according to the coal mining machine speed, the coal mining machine positioning confidence level, and the roof conditions. The calculation module is used to determine the moving difficulty index and misalignment risk index of the hydraulic support based on the state vector of each hydraulic support in the dynamic moving window. The rapid frame relocation determination module is used to determine the fluid supply capacity prediction result based on the state vector corresponding to the hydraulic support in each of the fluid supply control zones, and to determine whether the dynamic frame relocation window is a rapid frame relocation window based on the fluid supply capacity prediction result. The moving support decision module is used to respond to the dynamic moving support window being a fast moving support window, and to determine the moving support organization method corresponding to the hydraulic support based on the moving support difficulty index, the misalignment risk index and the liquid supply capacity prediction result. The moving support control module is used to control the movement of the hydraulic support in the dynamic moving support window based on the moving support organization method, and to control the fluid supply to the hydraulic support.

13. An electronic device, characterized in that, It includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, it implements the method as described in any one of the preceding claims 1-11.

14. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of the preceding claims 1-11.

15. A chip, characterized in that, The chip includes processing circuitry configured to perform the method described in any one of claims 1-11.

16. A computer program product, characterized in that, It includes a computer program, which, when executed by a processor, implements the method as described in any one of claims 1-11.

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