Method and device for regulating and controlling state of hydraulic support on underground working face

Abstract

The invention provides an underground working face hydraulic support state regulation and control method and device. The method comprises the steps that the absolute distance between a hydraulic support and a scraper conveyer is determined based on dip angle data and the measurement distance of the hydraulic support; if the support moving deviation between the absolute distance and the support moving distance threshold value is out of the support moving deviation range, the hydraulic support is controlled to move towards the scraper conveyer to the position within the support moving deviation range; the method comprises the following steps: after the scraper conveyer finishes pushing and sliding operation, judging the distribution state of the scraper conveyer according to the absolute distance between each hydraulic support in an underground working surface and the scraper conveyer, the theoretical maximum pushing and sliding distance and linear information of the scraper conveyer, and if the distribution state is in a bending state, cooperatively controlling the straightness of the scraper conveyer and the hydraulic supports; and the in-place precision of single-frame moving is remarkably improved, intelligent comprehensive judgment and cooperative regulation and control of the straight state of the working face hydraulic support group and the scraper conveyor are achieved, and the overall straightness and operation stability of the working face in the advancing process are effectively guaranteed.

Description

Technical Field

[0001] This invention relates to the field of intelligent coal mining technology, and in particular to a method and device for regulating the status of hydraulic supports in underground working faces. Background Technology

[0002] During the mining process of a fully mechanized longwall face, the advancement status of the hydraulic support directly affects the realization of the "three straights" (straight support, straight conveyor, and straight coal face) and safe production. Currently, the measurement of the hydraulic support advancement distance mainly relies on stroke sensors. These sensors obtain advancement data by detecting the displacement of the stroke rod relative to the magnetic ring. Although their measurement accuracy is within the allowable range for engineering, the results obtained are essentially the relative displacement of mechanical parts and cannot truly reflect the actual spatial distance of the hydraulic support relative to the scraper conveyor. In actual mining, due to the influence of factors such as the undulation of the working face floor, changes in the posture of the hydraulic support, and mechanical connection gaps and wear, relying solely on the output value of the stroke sensor is insufficient to accurately characterize the true advancement status of the hydraulic support. This easily leads to an increase in the cumulative error of the advancement distance, which in turn affects the reliability of judgments on critical states such as whether the hydraulic support is in place and whether there is any support loss.

[0003] In existing technologies, stroke sensors are typically used to monitor the pulling or pushing process of hydraulic supports. The presence or absence of a support is determined by comparing the sensor output with a preset threshold. Furthermore, historical data from the stroke sensors can be used to plot a step-by-step advancement curve, visually reflecting the support's progress during multiple pushes and shifts. However, this approach has significant limitations: the stroke sensor measures the displacement of internal mechanical components within the hydraulic support, not the actual distance between the support and the scraper conveyor. In actual dynamic propulsion, errors caused by uneven base plates, changes in support inclination angles, and mechanical clearances accumulate as the propulsion operation continues. This causes the stroke sensor-based judgment to gradually deviate from reality, ultimately leading to decreased accuracy in support loss detection and insufficient control over the flatness of the working surface.

[0004] In summary, existing methods for monitoring the propulsion status of hydraulic supports based on stroke sensors have significant shortcomings in terms of accurate distance perception, error accumulation resistance, and attitude adaptability, making it difficult to meet the control requirements of highly reliable and automated longwall mining faces. Therefore, there is an urgent need for a detection and control method that can directly and accurately obtain the absolute distance between the hydraulic support and the scraper conveyor, and effectively eliminate the influence of attitude and mechanical errors, in order to improve the accuracy of hydraulic support loss detection and the stability of overall face straightness control.

[0005] This section is intended to provide background or context for the embodiments of this application set forth in the claims. The description herein is not an admission that it is prior art simply because it is included in this section. Summary of the Invention

[0006] One objective of this invention is to provide a method for regulating the state of hydraulic supports in underground working faces. This method enables high-precision, interference-resistant direct measurement of the absolute distance between the hydraulic supports and the scraper conveyor, and based on this, constructs a closed-loop correction control for hydraulic support movement, significantly improving the positioning accuracy of a single support. Simultaneously, by integrating distance measurement data from multiple supports with the alignment information of the scraper conveyor, intelligent comprehensive judgment and coordinated control of the straightness of the hydraulic support group and the scraper conveyor in the working face are achieved, effectively ensuring the overall straightness and operational stability of the working face advancement process. Another objective of this invention is to provide a device for regulating the state of hydraulic supports in underground working faces. A further objective of this invention is to provide a computer-readable medium. A final objective of this invention is to provide a computer device.

[0007] To achieve the above objectives, this invention discloses a method for regulating the state of a hydraulic support in a downhole working face, comprising: Based on the tilt angle data of the hydraulic support and the measurement distance collected by the ranging equipment, the absolute distance between the hydraulic support and the scraper conveyor is determined. If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, the hydraulic support is controlled to move toward the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range. After the scraper conveyor completes the pushing operation, the distribution status of the scraper conveyor is determined based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. If the scraper conveyor is in a curved state, the hydraulic support's shifting stroke is corrected based on the pre-calculated pushing offset and the theoretical maximum pushing distance, thus achieving coordinated control of the straightness of the scraper conveyor and the hydraulic support.

[0008] Preferably, the absolute distance between the hydraulic support and the scraper conveyor is determined based on the tilt angle data of the hydraulic support and the measured distance collected by the ranging device, including: Determine whether the tilt angle data is within the pre-calculated normal tilt angle range; If so, determine the measured distance as an absolute distance; If not, project the measured distance onto the horizontal direction according to the tilt angle data, and determine the projected distance as the absolute distance.

[0009] Preferably, the method further includes: Obtain the historical tilt angle dataset for each hydraulic support under normal operating conditions; The historical dip angle dataset is fitted with a distribution to construct a dip angle density function; Integrating the dip angle density function yields the dip angle cumulative distribution function; Based on a preset confidence level, the quantiles of the cumulative distribution function of the dip angle are calculated to obtain the normal dip angle range.

[0010] Preferably, the method further includes: Obtain the historical data set of hydraulic support movement deviations under normal operating conditions; A distribution fit was performed on the historical relocation deviation dataset to construct the relocation deviation density function; Integrating the shift deviation density function yields the cumulative distribution function of the shift deviation; Based on a preset confidence level, the quantiles of the cumulative distribution function of the shifting deviation are calculated to obtain the range of the shifting deviation.

[0011] Preferably, the distribution status of the scraper conveyor is determined based on the absolute distance between each hydraulic support and the scraper conveyor within the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information, including: Based on the absolute distance between each hydraulic support and the scraper conveyor, the distance measurement residual for each hydraulic support is generated. Based on the theoretical maximum pushing distance, the scraper conveyor alignment information of the previous cut and the scraper conveyor alignment information of the current cut, the pushing offset of each scraper conveyor of the current cut is generated. Determine whether the maximum ranging residual is less than or equal to a preset first tolerance threshold, and whether the maximum push offset is less than or equal to a preset second tolerance threshold; If all are yes, the distribution state of the scraper conveyor is determined to be a straight state; If at least one of them is not true, the distribution state of the scraper conveyor is determined to be curved.

[0012] Preferably, the distance measurement residual for each hydraulic support is generated based on the absolute distance between each hydraulic support and the scraper conveyor, including: Obtain the median of the absolute distances between each hydraulic support and the scraper conveyor; The distance residual for each hydraulic support is generated based on the median and the absolute distance between each hydraulic support and the scraper conveyor.

[0013] Preferably, based on the theoretical maximum pushing distance, the scraper conveyor alignment information of the previous cutter and the scraper conveyor alignment information of the current cutter, the pushing offset of each scraper conveyor of the current cutter is generated, including: Based on the scraper conveyor alignment information of the previous cut and the scraper conveyor alignment information of the current cut, the current actual pushing distance is generated; The push offset is generated based on the current actual push distance and the theoretical maximum push distance.

[0014] Preferably, based on the pre-calculated push offset and the theoretical maximum push distance, the hydraulic support's shifting stroke is corrected to achieve coordinated control of the straightness of the scraper conveyor and the hydraulic support, including: The maximum value among the various push-pull offsets is determined as the pull frame adjustment threshold; Based on the frame adjustment threshold and the theoretical maximum pushing distance, the corrected frame movement stroke is generated; Control each hydraulic support to move according to the corrected moving stroke, and in the next pushing operation, perform pushing operation on each scraper conveyor according to the theoretical maximum pushing distance to complete the coordinated control of the straightness of the scraper conveyor and the hydraulic support.

[0015] This invention also discloses a hydraulic support status control device for downhole working faces, comprising: The absolute distance determination unit is used to determine the absolute distance between the hydraulic support and the scraper conveyor based on the tilt angle data of the hydraulic support and the measured distance collected by the ranging equipment. The correction unit is used to control the hydraulic support to move toward the scraper conveyor based on the absolute distance if the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, until the shifting deviation is within the pre-calculated shifting deviation range. The distribution status determination unit is used to determine the distribution status of the scraper conveyor after the scraper conveyor has completed the pushing operation, based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. The collaborative control unit is used to correct the movement stroke of the hydraulic support based on the pre-calculated push offset and the theoretical maximum push distance if the scraper conveyor is in a curved state, thereby completing the collaborative control of the straightness of the scraper conveyor and the hydraulic support.

[0016] The present invention also discloses a computer-readable medium having a computer program stored thereon, which, when executed by a processor, implements the method described above.

[0017] The present invention also discloses a computer device, including a memory and a processor, wherein the memory is used to store information including program instructions, and the processor is used to control the execution of the program instructions, wherein the processor executes the program to implement the method described above.

[0018] The present invention also discloses a computer program product, including a computer program / instruction, which, when executed by a processor, implements the method described above.

[0019] This invention determines the absolute distance between the hydraulic support and the scraper conveyor based on the tilt angle data of the hydraulic support and the measurement distance collected by the ranging equipment. If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, the hydraulic support is controlled to move towards the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range. After the scraper conveyor completes the pushing operation, the distribution status of the scraper conveyor is determined based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. If the scraper conveyor is distributed... The fabric is in a bent state. Based on the pre-calculated push-slide offset and the theoretical maximum push-slide distance, the movement stroke of the hydraulic support is corrected, and the straightness of the scraper conveyor and the hydraulic support is coordinated and controlled. This enables high-precision, interference-resistant direct measurement of the absolute distance between the hydraulic support and the scraper conveyor. Based on this, a closed-loop correction control for the movement of the hydraulic support is constructed, significantly improving the positioning accuracy of a single support. At the same time, by integrating the distance measurement data of multiple supports with the alignment information of the scraper conveyor, intelligent comprehensive judgment and coordinated control of the straightness of the hydraulic support group and the scraper conveyor on the working face are realized, effectively ensuring the overall straightness and operational stability of the working face advancement process. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present 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 only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A flowchart of a method for controlling the state of a hydraulic support in a downhole working face, provided by an embodiment of the present invention; Figure 2 A flowchart illustrating another method for controlling the state of a hydraulic support in a downhole working face, provided by an embodiment of the present invention; Figure 3 A schematic diagram of a millimeter-wave radar ranging scenario provided by an embodiment of the present invention for a hydraulic support in a horizontal position; Figure 4 A schematic diagram of a scenario for millimeter-wave radar ranging when a hydraulic support has a certain tilt angle, provided by an embodiment of the present invention; Figure 5 This is a schematic diagram illustrating the coordinated movement of a hydraulic support and a scraper conveyor during the face-pushing process, as provided in an embodiment of the present invention. Figure 6 A schematic diagram illustrating the coordinated straightness control of hydraulic supports and scraper conveyors during the face pushing process, provided as an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure of a hydraulic support status control device for a downhole working face provided in an embodiment of the present invention; Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present invention. Detailed Implementation

[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0023] To facilitate understanding of the technical solution provided in this application, the relevant content of the technical solution will be explained below. By installing millimeter-wave radar on the outer cylinder of the hydraulic support column, the absolute distance between the hydraulic support and the scraper conveyor can be directly measured after the hydraulic support is pulled up. Based on this distance, it can be determined whether the hydraulic support has been moved into place or whether there is a loss of support. At the same time, based on the distribution characteristics of the absolute distance of the hydraulic supports across the entire working face, the pushing process of the hydraulic support is coordinated and controlled, thereby maintaining the straightness of the working face.

[0024] In the process of achieving "three straight" alignment in a fully mechanized mining face, the relative position between the hydraulic supports and the scraper conveyor is a key factor affecting the overall alignment of the face. Because the scraper conveyor has mechanical limiting structures between its chutes, it effectively ensures its own straightness. Therefore, the scraper conveyor can serve as a stable reference benchmark for judging the movement status of the hydraulic supports and the straightness of the working face. Based on this, if the absolute distance between the hydraulic support and its corresponding scraper conveyor chute can be accurately obtained, it can be used to determine whether the hydraulic support is not properly moved or has been lost. Furthermore, when the absolute distances between all hydraulic supports and their corresponding chutes within the working face are within the allowable error range, it can be determined that the hydraulic supports of the entire working face are in a basically straight state.

[0025] Based on the above analysis, the purpose of this invention is to provide a technical solution that can directly and accurately obtain the absolute distance between the hydraulic support and the scraper conveyor, thereby realizing the reliable identification of the hydraulic support loss state, and further realizing the effective judgment and control of the straightness state of the hydraulic support in the fully mechanized mining face, thereby improving the safety, stability and automation level of the working face advancement operation.

[0026] To achieve the above objectives, the present invention needs to solve the following technical problems: How can we ensure that the measurement results are not affected by the changes in the posture of the hydraulic support before and after its movement, so as to obtain the absolute distance between the hydraulic support and the scraper conveyor stably and accurately?

[0027] Under complex working conditions downhole, how to reasonably determine the installation position and method of millimeter-wave radar on hydraulic supports, avoid interference from structural obstruction, vibration and environmental factors on measurement results, and ensure the stability and reliability of millimeter-wave radar ranging?

[0028] How to accurately determine whether a single hydraulic support has been moved to the correct position and whether there is any loss of support based on the absolute distance data between the hydraulic support and the corresponding scraper conveyor chute, and further utilize the measurement results of multiple hydraulic supports to comprehensively judge and coordinate the flatness of the entire working face.

[0029] The following uses a hydraulic support status control device for a downhole working face as an example to illustrate the implementation process of the hydraulic support status control method for a downhole working face provided in this embodiment of the invention. It is understood that the execution subject of the hydraulic support status control method for a downhole working face provided in this embodiment of the invention includes, but is not limited to, a hydraulic support status control device for a downhole working face.

[0030] Figure 1 A flowchart of a method for controlling the state of a hydraulic support in a downhole working face, as provided in an embodiment of the present invention, is shown below. Figure 1 As shown, the method includes: Step 101: Based on the tilt angle data of the hydraulic support and the measured distance collected by the ranging equipment, determine the absolute distance between the hydraulic support and the scraper conveyor.

[0031] In this embodiment of the invention, the ranging device is a millimeter-wave radar. A millimeter-wave radar is installed on the outer cylinder of the column of each hydraulic support. Utilizing the advantages of millimeter-wave radar under short-range measurement conditions—high ranging accuracy, strong directionality, and strong resistance to interference from underground environments such as dust and water mist—the absolute distance between the hydraulic support and its corresponding scraper conveyor chute is directly measured. The ranging target of the millimeter-wave radar is selected as the metal structure of the scraper conveyor chute to ensure the stability and reliability of the ranging echo. The millimeter-wave radar is directly connected to the hydraulic support controller, and its measurement data serves as the basis for judging the hydraulic support's movement status and adjusting control. It is also synchronously uploaded to the centralized control system at the working face for overall analysis and control.

[0032] In this embodiment of the invention, an inclination sensor and a ranging device (such as millimeter-wave radar) are installed on the hydraulic support to collect in real time the inclination data of the hydraulic support and the original measured distance between the hydraulic support and the scraper conveyor. The original measured distance is geometrically corrected based on the inclination data to eliminate measurement errors caused by changes in the posture of the hydraulic support, thereby obtaining a true and stable horizontal absolute distance.

[0033] Millimeter-wave radar offers advantages such as high ranging accuracy, strong directionality, and insensitivity to dust, water mist, and changes in lighting under short-range measurement conditions. Combined with the use of a chute metal structure as a reflective target, it can operate stably in complex underground environments, effectively improving the stability and repeatability of measurement data and reducing the risk of false and missed measurements. This invention utilizes the short-range high precision and strong anti-interference characteristics of millimeter-wave radar to adapt to complex underground working conditions, achieving high-precision measurement of the spatial distance between hydraulic supports and scraper conveyors. This ensures the consistency and reliability of data under different support postures, providing an accurate basis for subsequent status judgment and control.

[0034] As an alternative solution, in addition to using millimeter-wave radar for measurement, other non-contact ranging methods can be used to determine the distance between the hydraulic support and the scraper conveyor. These methods include ultrasonic ranging, laser ranging, or ranging based on multi-sensor fusion. By measuring the relative distance between the hydraulic support and the scraper conveyor, the movement status and loss status of the hydraulic support can be determined.

[0035] Step 102: If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, control the hydraulic support to move toward the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range.

[0036] In this embodiment of the invention, after the hydraulic support completes the shifting, the difference between the absolute distance measured by the millimeter-wave radar and the preset shifting distance threshold is taken as the shifting deviation. When the shifting deviation is within the shifting deviation range, it is determined that the hydraulic support has been shifted in place; when the shifting deviation exceeds the shifting deviation range, it is determined that the hydraulic support has failed to shift in place or has lost its support. The shifting deviation range is the allowable error range.

[0037] In this embodiment of the invention, when it is determined that the hydraulic support is lost, the absolute distance measured by the millimeter-wave radar is used as the control reference to perform a second support pulling operation on the hydraulic support, controlling the hydraulic support to move towards the scraper conveyor, and continuously acquiring the ranging data of the millimeter-wave radar during the support pulling process, forming a closed-loop control with the absolute distance as the feedback quantity, until the distance between the hydraulic support and the scraper conveyor meets the support transfer positioning conditions, thereby realizing automatic correction of the hydraulic support transfer accuracy.

[0038] This invention realizes closed-loop adaptive control of the hydraulic support relocation process, effectively avoiding relocation deviations caused by accumulated errors or external interference, and improving the accuracy and reliability of relocation of a single hydraulic support.

[0039] Step 103: After the scraper conveyor completes the pushing operation, determine the distribution status of the scraper conveyor based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information.

[0040] In this embodiment of the invention, after the scraper conveyor completes the pushing operation, the absolute distances between all hydraulic supports and their corresponding scraper conveyors within the underground working face are collected, and combined with the theoretical maximum pushing distance and the actual alignment information of the scraper conveyor obtained through inertial navigation. By comprehensively comparing and analyzing these data, it is determined whether the scraper conveyor exhibits local bending or overall offset. Specifically, when the absolute distances between each hydraulic support and its corresponding scraper conveyor chute are all within a set error range, the hydraulic supports at the working face are determined to be in a straight state; when the measurement results of some hydraulic supports deviate from the error range, the hydraulic supports at the working face are determined to be in a bent state. Furthermore, after the scraper conveyor completes the pushing operation, the absolute distances between the hydraulic supports and the scraper conveyor chute are obtained, and these absolute distances are compared and analyzed with the alignment data of the scraper conveyor obtained by the inertial navigation system, thereby achieving a comprehensive judgment on the straightness of the scraper conveyor and improving the reliability of the coordinated straightness control of the hydraulic supports and the scraper conveyor.

[0041] This invention enables a quantitative assessment of the overall shape of the scraper conveyor, provides multi-source data support for the comprehensive judgment of the flatness of the working surface, and enhances the system's adaptability to complex working conditions.

[0042] Step 104: If the scraper conveyor is in a curved state, based on the pre-calculated push offset and the theoretical maximum push distance, correct the shift stroke of the hydraulic support to complete the coordinated control of the straightness of the scraper conveyor and the hydraulic support.

[0043] In this embodiment of the invention, the next cycle of the relevant hydraulic supports is uniformly adjusted based on the pre-calculated offset of each scraper section and the theoretical maximum pushing distance. By coordinating the moving actions of each support, the hydraulic support group and the scraper conveyor are spatially realigned, ultimately achieving a coordinated restoration of their straightness.

[0044] This invention achieves coordinated straight control between the hydraulic support and the scraper conveyor, and can dynamically correct the system shape deviation after pushing the conveyor, ensuring the straightness and stability of the overall advancement of the working face, and improving the level of automated collaborative operation of the working face.

[0045] In the technical solution provided by this invention, the absolute distance between the hydraulic support and the scraper conveyor is determined based on the tilt angle data of the hydraulic support and the measurement distance collected by the ranging device. If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, the hydraulic support is controlled to move towards the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range. After the scraper conveyor completes the pushing operation, the distribution status of the scraper conveyor is determined based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. The scraper conveyor is distributed in a curved state. Based on the pre-calculated pushing offset and the theoretical maximum pushing distance, the movement stroke of the hydraulic support is corrected, and the straightness of the scraper conveyor and the hydraulic support is coordinated and controlled. This enables high-precision, interference-resistant direct measurement of the absolute distance between the hydraulic support and the scraper conveyor. Based on this, a closed-loop correction control for the movement of the hydraulic support is constructed, significantly improving the positioning accuracy of a single support. At the same time, by integrating the distance measurement data of multiple supports with the alignment information of the scraper conveyor, intelligent comprehensive judgment and coordinated control of the straightness of the hydraulic support group and the scraper conveyor on the working face are realized, effectively ensuring the overall straightness and operational stability of the working face advancement process.

[0046] Figure 2 A flowchart of another method for controlling the state of a hydraulic support in a downhole working face provided by an embodiment of the present invention is shown below. Figure 2 As shown, the method includes: Step 201: Determine whether the tilt angle data is within the pre-calculated normal tilt angle range. If yes, proceed to step 202; otherwise, proceed to step 203.

[0047] In this embodiment of the invention, each step is executed by the hydraulic support status control device at the downhole working face.

[0048] In this embodiment of the invention, an inclination sensor is installed on the hydraulic support base to collect the inclination information of the base in the longitudinal direction in real time. Taking a fully mechanized mining face as the application object, a millimeter-wave radar is fixedly installed on the outer cylinder of the column of each hydraulic support within the working face. The millimeter-wave radar is rigidly connected to the outer cylinder of the column through a mounting bracket, and its installation direction is towards the side plate of the scraper conveyor chute corresponding to the hydraulic support. The side plate of the chute is a metal structure, which can serve as a stable millimeter-wave reflection target to ensure clear and reliable echo signals under short-range conditions.

[0049] Specifically, the current tilt angle data output by the tilt sensor installed on the hydraulic support base is read in real time. The pre-calculated and stored normal tilt angle range is compared with the real-time tilt angle data. If the tilt angle data is within the normal tilt angle range, it indicates that the hydraulic support attitude is normal, the measurement direction of the ranging device (millimeter-wave radar) is horizontal, and its output measurement distance can be regarded as a valid horizontal distance, and step 202 is continued; if the tilt angle data is outside the normal tilt angle range, it indicates that the hydraulic support has tilted significantly due to factors such as the undulation of the base plate, and the measurement distance output by the ranging device (millimeter-wave radar) is a slant distance, which needs to be geometrically corrected to eliminate the influence of the undulation of the base plate on the ranging result, and step 203 is continued.

[0050] Figure 3 This is a schematic diagram of a scenario for millimeter-wave radar ranging when a hydraulic support is horizontal, provided as an embodiment of the present invention. Figure 3 As shown, taking a fully mechanized mining face as the application object, a millimeter-wave radar is fixedly installed on the outer cylinder of the column of each hydraulic support within the working face. The millimeter-wave radar is rigidly connected to the outer cylinder of the column through a mounting bracket, and its installation direction is towards the side plate of the scraper conveyor chute corresponding to that hydraulic support. The side plate of the chute is a metal structure, which can serve as a stable millimeter-wave reflection target to ensure clear and reliable echo signals under short-range conditions. The millimeter-wave radar is connected to the control device of this hydraulic support through a communication interface, and outputs the measured distance between the hydraulic support and the scraper conveyor according to a preset sampling period. Figure 3 As shown, the measured distance between the hydraulic support and the scraper conveyor is... .

[0051] Figure 4 This is a schematic diagram illustrating a scenario for millimeter-wave radar ranging when a hydraulic support has a certain tilt angle, as provided in an embodiment of the present invention. Figure 4 As shown, the tilt angle data of the hydraulic support is The measured distance at this time This is the slope distance.

[0052] The normal tilt angle range characterizes the reasonable range of hydraulic support attitude fluctuations under historical normal operating conditions. The calculation process for the normal tilt angle range is as follows: Step a1: Obtain the historical tilt angle dataset of each hydraulic support under normal operating conditions.

[0053] In this embodiment of the invention, during the debugging or learning phase, the tilt angle sensor readings of all hydraulic supports are collected during multiple production cycles (e.g., M cycles) when the working face is progressing normally and smoothly. This data constitutes a historical tilt angle dataset, denoted as... , of which each This represents the tilt angle data obtained from a single measurement.

[0054] Step a2: Fit the distribution of the historical dip angle dataset to construct the dip angle density function.

[0055] In this embodiment of the invention, based on a historical dip angle dataset, a high-confidence adaptive error tolerance interval is dynamically generated using a data distribution anomaly detection algorithm. Specifically, the kernel density estimation (KDE) algorithm is used to fit the probability density distribution of the dataset. KDE is a non-parametric estimation method used to estimate the probability density function of a random variable from a finite sample. It does not presuppose that the data follows a specific distribution (such as a normal distribution), thus it can more flexibly characterize the distribution pattern of actual data. The constructed dip angle density function is:

[0056] in, is the dip angle bandwidth, used to control the smoothness of the estimation; P is the historical dip angle dataset; For variables.

[0057] It is worth noting that other algorithms can also be used for distribution fitting, and this embodiment of the invention does not limit the specific algorithms used.

[0058] Step a3: Integrate the dip angle density function to obtain the dip angle cumulative distribution function.

[0059] In this embodiment of the invention, the tilt angle density function Integrating, we obtain the cumulative distribution function of the tilt angle:

[0060] The cumulative distribution function of the tilt angle represents the probability that the tilt angle is less than or equal to a certain value.

[0061] Step a4: Based on the preset confidence level, calculate the quantiles of the cumulative distribution function of the dip angle to obtain the normal dip angle range.

[0062] In this embodiment of the invention, based on the confidence level required by the engineering requirements... (For example, 95%), calculate the quantiles of the cumulative distribution function of the dip angle to obtain the normal dip angle range:

[0063] in, The upper quantile; It represents the lower quantile.

[0064] The interval formed by the upper and lower quantiles is the normal tilt range. This normal dip range indicates that α% of the historical normal data falls within this range. Dip angles outside this range can be considered abnormal or require correction.

[0065] In this embodiment of the invention, when the base is tilted at an angle in the longitudinal direction... Exceeding When the range is reached, the millimeter-wave radar tilts along with the support frame, and its measurement direction is no longer horizontal, but forms an angle with the horizontal plane. At this point, the measurement range of the millimeter-wave radar... The actual distance between the hydraulic support and the scraper conveyor should be the projection of this slant distance in the horizontal direction, which is the slant distance.

[0066] This invention installs an angle sensor on the hydraulic support base to monitor the attitude change of the hydraulic support base before and after the support is moved, and corrects or judges the millimeter-wave radar measurement results based on the attitude information, thereby effectively eliminating the influence of base plate undulation and support attitude change on the ranging results, and ensuring the consistency and comparability of measurement data under different working conditions.

[0067] Step 202: Determine the measured distance as an absolute distance, and continue to step 204.

[0068] In this embodiment of the invention, when the current tilt angle is determined to be within the normal range, it is assumed that the angle between the measurement axis of the millimeter-wave radar and the horizontal plane is extremely small, and the directly measured distance is approximately equal to the absolute horizontal distance between the hydraulic support and the scraper conveyor chute. Therefore, the measured distance is determined to be an absolute distance. The process then proceeds to step 204 to determine the status of the moving frame.

[0069] Step 203: Project the measured distance onto the horizontal direction according to the tilt angle data, and determine the projected distance as the absolute distance.

[0070] Specifically, effective horizontal distance (projected distance) for:

[0071] in, For measuring distance; This is the tilt angle data; Within the normal tilt angle range; The corrected effective horizontal distance, i.e., the absolute distance, effectively eliminates the ranging system error caused by changes in the posture of the hydraulic support.

[0072] This invention directly measures the absolute distance between the hydraulic support and the scraper conveyor chute by installing millimeter-wave radar on the outer cylinder of the hydraulic support column. This avoids the problem that traditional stroke sensors only measure the displacement of the stroke rod and cannot reflect the true spatial distance. It fundamentally eliminates the cumulative error introduced by the undulation of the base plate, the change of angle and mechanical clearance, making the judgment of the hydraulic support in place and the loss of support more accurate and reliable. It realizes the direct measurement of the true absolute distance between the hydraulic support and the scraper conveyor, and improves the accuracy of the judgment of the support movement status.

[0073] As another alternative, in order to address the impact of changes in the posture of the hydraulic support before and after its movement on the measurement results, in addition to correcting the millimeter-wave radar measurement results using an tilt sensor, other methods such as averaging multiple distance measurements, compensating with attitude calculation algorithms, and setting up multiple installation position sensors can be used to eliminate or reduce the measurement errors caused by attitude changes, thereby ensuring the stability and consistency of the distance measurement results.

[0074] Step 204: Determine whether the shifting deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range. If yes, proceed to step 205; otherwise, proceed to step 206.

[0075] In this embodiment of the invention, after the hydraulic support completes one shifting action, the difference between the absolute distance and the shifting distance threshold corresponding to the hydraulic support is calculated, and the difference is used as the shifting deviation. If the shifting deviation is outside the pre-calculated shifting deviation range, it indicates that the hydraulic support is not shifting in place or is missing, and step 205 is continued. If the shifting deviation is within the pre-calculated shifting deviation range, it indicates that the hydraulic support has shifted in place and enters the standby state, and step 206 is continued.

[0076] In this embodiment of the invention, the shifting frame deviation range is a dynamic adaptive tolerance interval. Its calculation method is similar to that of the normal tilt angle range, but based on historical shifting frame deviation data, the calculation process of the shifting frame deviation range is as follows: Step b1: Obtain the historical moving deviation dataset for each hydraulic support under normal operating conditions.

[0077] In this embodiment of the invention, during the learning phase, the differences between the absolute distance of each hydraulic support and the shifting distance threshold are collected after historical normal shifting. For each hydraulic support i and each cutter k, the difference between the absolute distance and the shifting distance threshold corresponding to that hydraulic support is calculated:

[0078] in, The difference between the absolute distance of the k-th hydraulic support and the threshold distance of the moving support; Let be the absolute distance between the k-th hydraulic support and the scraper conveyor; Let be the threshold value for the moving distance of the i-th hydraulic support.

[0079] These differences constitute the historical relocation deviation dataset, denoted as... .

[0080] Step b2: Fit the distribution of the historical transfer deviation dataset and construct the transfer deviation density function.

[0081] In this embodiment of the invention, based on a historical relocation deviation dataset, a high-confidence adaptive error tolerance interval is dynamically generated using a data distribution anomaly detection algorithm. Specifically, the kernel density estimation (KDE) algorithm is used to fit the probability density distribution of the dataset. KDE is a non-parametric estimation method used to estimate the probability density function of a random variable from a finite sample. It does not presuppose that the data follows a specific distribution (such as a normal distribution), thus it can more flexibly characterize the distribution pattern of actual data. The constructed relocation deviation density function is:

[0082] in, L represents the bandwidth of the moving frame deviation; L represents the historical moving frame deviation dataset. For variables.

[0083] It is worth noting that other algorithms can also be used for distribution fitting, and this embodiment of the invention does not limit the specific algorithms used.

[0084] Step b3: Integrate the shift deviation density function to obtain the cumulative distribution function of the shift deviation.

[0085] In this embodiment of the invention, the shift deviation density function Integrating, we obtain the cumulative distribution function of the frame shifting deviation:

[0086] The cumulative distribution function of the shift deviation represents the probability that the shift deviation is less than or equal to a certain value.

[0087] Step b4: Based on the preset confidence level, calculate the quantiles of the cumulative distribution function of the shifting deviation to obtain the range of the shifting deviation.

[0088] In this embodiment of the invention, based on the confidence level required by the engineering requirements... (For example, 95%), calculate the quantiles of the cumulative distribution function of the frame shifting deviation to obtain the range of the frame shifting deviation:

[0089] in, The upper quantile; It represents the lower quantile.

[0090] The interval formed by the upper quantile and the lower quantile is the range of the frame shifting deviation. This range of shift deviation indicates that α% of the historical normal data falls within this range. Shift deviations outside this range can be considered abnormal or require correction.

[0091] Step 205: Using the absolute distance as a reference, control the hydraulic support to move toward the scraper conveyor until the shift deviation is within the pre-calculated shift deviation range.

[0092] In this embodiment of the invention, when a support is determined to be lost, the absolute distance currently measured by the millimeter-wave radar is used as the control reference to automatically initiate a re-support pulling command. During the re-support pulling process, the controller continuously reads the distance data output by the millimeter-wave radar and dynamically adjusts the support pulling stroke based on the real-time measurement results. When the measured absolute distance between the hydraulic support and the scraper conveyor is within the support pulling deviation range corresponding to the support moving distance threshold, the support pulling action is immediately terminated, and the hydraulic support is re-determined to be in place, thereby completing one closed-loop support pulling control based on absolute distance feedback.

[0093] When the hydraulic support is determined to be lost, the present invention 4) constructs a closed-loop support shifting control with absolute distance as the feedback quantity to improve the support shifting accuracy. The absolute distance measured by millimeter-wave radar is used as the control reference, and the support is automatically pulled up again. The distance measurement result is fed back in real time during the support pulling process to form a closed-loop control, so that the hydraulic support can automatically compensate for the support shifting deviation, avoid relying on fixed stroke or cumulative stroke for adjustment, and improve the support shifting accuracy and reliability of a single hydraulic support.

[0094] Step 206: After the scraper conveyor completes the pushing operation, generate the distance measurement residual for each hydraulic support based on the absolute distance between each hydraulic support and the scraper conveyor.

[0095] In this embodiment of the invention, the working face centralized control system periodically receives millimeter-wave radar ranging data uploaded by each hydraulic support controller, and performs statistical analysis on the absolute distance between all hydraulic supports and the corresponding scraper conveyor at the same time.

[0096] In this embodiment of the invention, step 206 specifically includes: Step 2061: Obtain the median of the absolute distances between each hydraulic support and the scraper conveyor.

[0097] In this embodiment of the invention, after the scraper conveyor completes one push, the distance values ​​between each hydraulic support (before the pull frame) and the corrected scraper chute are collected simultaneously. , take the median :

[0098] in, Let be the absolute distance between the i-th hydraulic support and the scraper conveyor.

[0099] In this embodiment of the invention, the median is less sensitive to outliers (individual severely skewed hydraulic supports) than the mean, and can better reflect the overall trend.

[0100] Step 2062: Generate the distance residual for each hydraulic support based on the median and the absolute distance between each hydraulic support and the scraper conveyor.

[0101] In this embodiment of the invention, if the scraper conveyor is completely straight and aligned with the support, then all millimeter-wave radar ranging... They should be approximately equal. Calculate the distance measurement residual at each hydraulic support:

[0102] in, Let be the absolute distance between the i-th hydraulic support and the scraper conveyor; The distance measurement residual at the i-th hydraulic support; This is the median.

[0103] In this embodiment of the invention, the ranging residual reflects the degree of offset of the i-th hydraulic support relative to the overall center line of the working face support group. The larger the absolute value of the ranging residual, the more the position of the support deviates from the overall straight line.

[0104] Step 207: Based on the theoretical maximum push distance, the scraper conveyor alignment information of the previous cutter and the scraper conveyor alignment information of the current cutter, generate the push offset of each scraper conveyor of the current cutter.

[0105] In this embodiment of the invention, to evaluate the straightness of the scraper conveyor itself (i.e., whether the chutes are arranged in a straight line), calculations are performed using alignment measurement data. The alignment information of the scraper conveyor is output by the inertial navigation system.

[0106] Step 2071: Generate the current actual pushing distance based on the scraper conveyor alignment information of the previous cutter and the scraper conveyor alignment information of the current cutter.

[0107] In this embodiment of the invention, an inertial navigation system installed on the scraper conveyor acquires the linear information of the scraper conveyor when the previous cut is completed (i.e., before the current push). And the linear information after the current blade push-pull is completed. The change in position of the i-th segment of the scraper conveyor in the propulsion direction during the two measurements is the current actual pushing distance of that segment of the scraper. .

[0108] Step 2072: Generate the push offset based on the current actual push distance and the theoretical maximum push distance.

[0109] In this embodiment of the invention, the maximum pushing distance is combined with the working face theory. The offset of each scraper blade relative to the ideal straight line of the scraper blade is calculated. :

[0110] in, Let be the pushing offset of the i-th hydraulic support; This represents the theoretical maximum pushing distance. This represents the current actual pushing distance.

[0111] In this embodiment of the invention, the push offset reflects the degree to which the i-th segment of the scraper conveyor lags behind the theoretical maximum travel distance in this push.

[0112] Step 208: Determine whether the maximum ranging residual is less than or equal to the preset first tolerance threshold, and whether the maximum push offset is less than or equal to the preset second tolerance threshold. If both are yes, proceed to step 209; if at least one is no, proceed to step 210.

[0113] In this embodiment of the invention, the maximum ranging residual is selected from multiple ranging residuals, and the maximum push-off offset is selected from multiple push-off offsets; if the maximum ranging residual is less than or equal to a preset first tolerance threshold, and the maximum push-off offset is less than or equal to a preset second tolerance threshold, that is: If the maximum distance residual is greater than the preset first tolerance threshold, or the maximum push offset is greater than the preset second tolerance threshold, it indicates that the distribution of the scraper conveyor is curved and collaborative correction needs to be performed. Continue to step 210.

[0114] in, The distance measurement residual at the i-th hydraulic support; This is the first tolerance threshold; Let be the pushing offset of the i-th hydraulic support; This is the second tolerance threshold.

[0115] It is worth noting that the first tolerance threshold and the second tolerance threshold can be set according to actual needs, and the embodiments of the present invention do not limit this.

[0116] Step 209: Determine the distribution state of the scraper conveyor to be straight, and the process ends.

[0117] In this embodiment of the invention, the overall scraper conveyor is in a straight distribution state, the control process ends, and no adjustment is required.

[0118] This invention achieves a unified statistical analysis of millimeter-wave radar measurement data of all hydraulic supports in the working face. When the absolute distance between each hydraulic support and the corresponding chute is within the set error range, it can be determined that the hydraulic supports of the working face are in a straight state. This provides a direct and quantitative basis for the straightness control of the working face. 5) It realizes the overall judgment of the straightness of the hydraulic supports of the working face and improves the "three straight" control level of the working face.

[0119] Step 210: Determine the distribution state of the scraper conveyor as a curved state.

[0120] In this embodiment of the invention, the scraper conveyor is distributed in a curved manner. The distribution state of the scraper conveyor is determined to be curved, and the straightness of the scraper conveyor and the hydraulic support is corrected in a coordinated manner.

[0121] Figure 5 This is a schematic diagram illustrating the coordinated movement of a hydraulic support and a scraper conveyor during the face-pushing process, as provided in an embodiment of the present invention. Figure 5 As shown, the black square lines represent the distribution curve of the hydraulic support, the black inverted triangle lines represent the distribution curve of the actual scraper, and the red dashed lines represent the distribution curve of the ideal scraper. This represents the theoretical maximum pushing distance. This is the absolute distance between the hydraulic support and the scraper conveyor. This represents the current actual pushing distance; This refers to the linear information of the scraper conveyor from the previous cut; This provides the current scraper conveyor alignment information. The hydraulic support moves along the working face advance direction, from... Advance to Corresponding to the current actual pushing distance The hydraulic support advances in a step-by-step manner, and the scraper conveyor moves along with the support. However, due to the influence of mechanical characteristics and working conditions, the curve shape deviates from the ideal state during actual movement, and together they complete the advancement operation of the working face.

[0122] As another alternative, in order to determine the straightness of the hydraulic supports at the working face, in addition to making a unified error judgment on the absolute distance measurement results of all hydraulic supports, the linearity of the hydraulic supports at the working face can be comprehensively judged by performing linear fitting, trend analysis or regional consistency analysis on the measurement data, so as to achieve the evaluation of the straightness of the working face.

[0123] Step 211: Determine the maximum value among the various push-off offsets as the pull frame adjustment threshold.

[0124] In this embodiment of the invention, all calculated push-off offsets are... The maximum value in Determined to adjust the threshold for the support frame This means that the current coordinated correction will be based on the most lagging section of the scraper.

[0125] Step 212: Generate the corrected frame movement stroke based on the frame adjustment threshold and the theoretical maximum push distance.

[0126] In this embodiment of the invention, during the frame pulling process, the overall moving distance of all hydraulic supports is reduced to avoid support tilting due to scraper lag, while ensuring the overall straightness of the hydraulic supports after the frame movement. The corrected frame movement stroke is as follows:

[0127] in, This is the revised frame movement stroke; This represents the theoretical maximum pushing distance. Adjust the threshold for the pull frame.

[0128] In this embodiment of the invention, during the subsequent support relocation operation, the relocation stroke of all hydraulic supports is no longer executed according to the theoretical maximum value, but rather the amount of the pull-up adjustment threshold is uniformly reduced. The purpose of this is to allow the hydraulic support group as a whole to "wait" for the most lagging scraper section, so that the new position line of the supports after relocation can adapt to the current bending shape of the scraper conveyor, creating conditions for the next push-pull correction.

[0129] Step 213: Control each hydraulic support to move according to the corrected moving stroke, and in the next pushing operation, perform pushing operation on each scraper conveyor according to the theoretical maximum pushing distance to complete the coordinated control of the straightness of the scraper conveyor and the hydraulic support.

[0130] In this embodiment of the invention, the millimeter-wave radar ranging values ​​of each hydraulic support after the frame is moved. :

[0131] in, This is the absolute distance between the current i-th hydraulic support of the blade and the scraper conveyor; This is the absolute distance between the i-th hydraulic support and the scraper conveyor in the previous operation; This is the revised frame movement stroke.

[0132] In this embodiment of the invention, all hydraulic supports at the downhole working face are controlled to follow the same procedure during the next support relocation. Perform the frame shifting. After completing this shift, in the next push operation, control all scraper conveyor chutes to perform full-stroke push (i.e., push distance is...). Since the support frame has been aligned with the bending of the scraper during the shifting process, this full-stroke push will effectively straighten the scraper conveyor, thereby restoring the scraper conveyor and the hydraulic support to a straight and aligned state, achieving coordinated straight control between the hydraulic support and the scraper conveyor.

[0133] After the push-slide operation is completed, the present invention compares and analyzes the distance measurement results between the hydraulic support and the chute with the scraper conveyor alignment information obtained by the inertial navigation system to realize the verification and judgment of the straightness of the scraper conveyor, so that the hydraulic support control and the scraper conveyor status mutually verify each other, further improving the reliability and safety of the overall straightness control of the working face, 6) realizing the coordinated straightness control of the hydraulic support and the scraper conveyor, and improving the overall stability of the system.

[0134] Figure 6 This invention provides a schematic diagram of the coordinated straightness control of hydraulic supports and scraper conveyors during the face-pushing process, as shown in the embodiment of the invention. Figure 6 As shown, the black square lines represent the distribution curve of the hydraulic support, the black inverted triangle lines represent the distribution curve of the actual scraper, and the red dashed lines represent the distribution curve of the ideal scraper. This represents the theoretical maximum pushing distance. This refers to the linear information of the scraper conveyor from the previous cut; This provides the current scraper conveyor alignment information for the blade. Information on the scraper conveyor alignment for the next cut; Adjust the threshold for the pull frame; This is the revised frame movement stroke.

[0135] like Figure 6 As shown, the hydraulic support cycles through "lowering the support (making room), moving the support (moving itself forward), and raising the support (re-supporting the top plate)" along the working face's advancing direction (arrow direction), while also pushing the scraper conveyor, continuously advancing the working face in the arrow direction; however, in actual movement, the scraper may deviate from the ideal trajectory due to mechanical and operational factors, forming... Deviation is corrected by controlling each hydraulic support to move according to the corrected shift stroke, and then, in the next push operation, performing a push operation on each scraper conveyor according to the theoretical maximum push distance. The position enables coordinated control of the straightness of the scraper conveyor and the hydraulic support, ensuring efficient and stable advancement of the working face.

[0136] This invention achieves deep coordination between the hydraulic support group and the scraper conveyor in terms of spatial position and action sequence. Through the intelligent control strategy of "moving the support to wait for the scraper, and then pushing the conveyor to straighten", the overall flatness of the working surface is maintained dynamically and automatically, which greatly improves the automation level and stability of the "three straight" control.

[0137] It is worth noting that the acquisition, storage, use, and processing of data in the technical solution of this application all comply with relevant laws and regulations. The user information in the embodiments of this application was obtained through legal and compliant means, and the acquisition, storage, use, and processing of user information have been authorized and agreed upon by the client.

[0138] It is worth noting that the information collected in this application is information and data authorized by the user or fully authorized by all parties, and the collection, storage, use, processing, transmission, provision, disclosure and application of the relevant data all comply with the relevant laws, regulations and standards of the relevant countries and regions, necessary confidentiality measures have been taken, and they do not violate public order and good morals. Corresponding operation portals are provided for users to choose to authorize or refuse.

[0139] It is worth noting that the technical solution provided in this application provides users with a corresponding operation entry point, allowing users to choose to agree to or reject the automated decision-making result; if the user chooses to reject, the process will proceed to the expert decision-making process.

[0140] In the technical solution of the hydraulic support status control method for underground working faces provided in this invention embodiment, the absolute distance between the hydraulic support and the scraper conveyor is determined based on the tilt angle data of the hydraulic support and the measurement distance collected by the ranging device. If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, the hydraulic support is controlled to move towards the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range. After the scraper conveyor completes the pushing operation, the scraper conveyor is controlled according to the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. Distribution state determination: If the scraper conveyor is in a curved state, based on the pre-calculated pushing offset and the theoretical maximum pushing distance, the moving stroke of the hydraulic support is corrected, and the straightness of the scraper conveyor and the hydraulic support is coordinated and controlled. This enables high-precision, interference-resistant direct measurement of the absolute distance between the hydraulic support and the scraper conveyor, and based on this, a closed-loop correction control for the moving of the hydraulic support is constructed, significantly improving the positioning accuracy of a single support. At the same time, by integrating the distance measurement data of multiple supports and the linear information of the scraper conveyor, intelligent comprehensive determination and coordinated control of the straightness of the hydraulic support group and the scraper conveyor on the working face are realized, effectively ensuring the overall straightness and operational stability of the working face advancement process.

[0141] Figure 7 This is a schematic diagram of a hydraulic support status control device for a downhole working face provided in an embodiment of the present invention. This device is used to execute the aforementioned hydraulic support status control method for a downhole working face, such as... Figure 7 As shown, the device includes: an absolute distance determination unit 11, a correction unit 12, a distribution state determination unit 13, and a cooperative control unit 14.

[0142] The absolute distance determination unit 11 is used to determine the absolute distance between the hydraulic support and the scraper conveyor based on the tilt angle data of the hydraulic support and the measured distance collected by the ranging device.

[0143] The correction unit 12 is used to control the hydraulic support to move toward the scraper conveyor based on the absolute distance if the shifting deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, until the shifting deviation is within the pre-calculated shifting deviation range.

[0144] The distribution status determination unit 13 is used to determine the distribution status of the scraper conveyor after the scraper conveyor completes the pushing operation, based on the absolute distance between each hydraulic support in the underground working face and the scraper conveyor, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information.

[0145] The collaborative control unit 14 is used to correct the moving stroke of the hydraulic support based on the pre-calculated pushing offset and the theoretical maximum pushing distance if the scraper conveyor is in a curved state, thereby completing the collaborative control of the straightness of the scraper conveyor and the hydraulic support.

[0146] In this embodiment of the invention, the absolute distance determination unit 11 is specifically used to determine whether the tilt angle data is within the pre-calculated normal tilt angle range; if so, the measured distance is determined as the absolute distance; if not, the measured distance is projected onto the tilt angle data in the horizontal direction, and the projected distance is determined as the absolute distance.

[0147] In this embodiment of the invention, the device further includes: a historical tilt dataset acquisition unit 15, a first distribution fitting unit 16, a first integration unit 17, and a first quantile calculation unit 18.

[0148] The historical tilt angle dataset acquisition unit 15 is used to acquire the historical tilt angle dataset of each hydraulic support under historical normal working conditions.

[0149] The first distribution fitting unit 16 is used to perform distribution fitting on the historical dip angle dataset and construct the dip angle density function.

[0150] The first integration unit 17 is used to integrate the tilt angle density function to obtain the tilt angle cumulative distribution function.

[0151] The first quantile calculation unit 18 is used to calculate the quantiles of the cumulative distribution function of the dip angle based on a preset confidence level, so as to obtain the normal dip angle range.

[0152] In this embodiment of the invention, the device further includes: a historical displacement deviation dataset acquisition unit 19, a second distribution fitting unit 20, a second integration unit 21, and a second quantile calculation unit 22.

[0153] The historical shift deviation dataset acquisition unit 19 is used to acquire the historical shift deviation dataset of each hydraulic support under historical normal working conditions.

[0154] The second distribution fitting unit 20 is used to perform distribution fitting on the historical transfer deviation dataset and construct the transfer deviation density function.

[0155] The second integration unit 21 is used to integrate the shift deviation density function to obtain the cumulative distribution function of the shift deviation.

[0156] The second quantile calculation unit 22 is used to calculate the quantiles of the cumulative distribution function of the shifting deviation based on a preset confidence level, so as to obtain the range of the shifting deviation.

[0157] In this embodiment of the invention, the distribution state determination unit 13 is specifically used to generate the distance measurement residual of each hydraulic support based on the absolute distance between each hydraulic support and the scraper conveyor; generate the pushing offset of each scraper conveyor of the current cut based on the theoretical maximum pushing distance, the scraper conveyor alignment information of the previous cut and the scraper conveyor alignment information of the current cut; determine whether the maximum distance measurement residual is less than or equal to a preset first tolerance threshold, and whether the maximum pushing offset is less than or equal to a preset second tolerance threshold; if both are yes, the distribution state of the scraper conveyor is determined to be a straight state; if at least one is no, the distribution state of the scraper conveyor is determined to be a curved state.

[0158] In this embodiment of the invention, the distribution state determination unit 13 is specifically used to obtain the median of the absolute distance between each hydraulic support and the scraper conveyor; and to generate the distance measurement residual for each hydraulic support based on the median and the absolute distance between each hydraulic support and the scraper conveyor.

[0159] In this embodiment of the invention, the distribution state determination unit 13 is specifically used to generate the current actual pushing distance based on the scraper conveyor alignment information of the previous cutter and the scraper conveyor alignment information of the current cutter; and to generate the pushing offset based on the current actual pushing distance and the theoretical maximum pushing distance.

[0160] In this embodiment of the invention, the collaborative control unit 14 is specifically used to determine the maximum value among the various push-slide offsets as the pull-frame adjustment threshold; generate a corrected frame-shifting stroke based on the pull-frame adjustment threshold and the theoretical maximum push-slide distance; control each hydraulic support to shift the frame according to the corrected frame-shifting stroke; and in the next push-slide operation, perform a push-slide operation on each scraper conveyor according to the theoretical maximum push-slide distance to complete the collaborative control of the straightness of the scraper conveyor and the hydraulic support.

[0161] In this embodiment of the invention, the absolute distance between the hydraulic support and the scraper conveyor is determined based on the tilt angle data of the hydraulic support and the measurement distance collected by the ranging device. If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, the hydraulic support is controlled to move towards the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range. After the scraper conveyor completes the pushing operation, the distribution status of the scraper conveyor is determined based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. If the scraper... The conveyor distribution is in a curved state. Based on the pre-calculated push-slide offset and the theoretical maximum push-slide distance, the movement stroke of the hydraulic support is corrected, and the straightness of the scraper conveyor and the hydraulic support is coordinated and controlled. This enables high-precision, interference-resistant direct measurement of the absolute distance between the hydraulic support and the scraper conveyor. Based on this, a closed-loop correction control for the movement of the hydraulic support is constructed, significantly improving the positioning accuracy of a single support. At the same time, by integrating the distance measurement data of multiple supports with the alignment information of the scraper conveyor, intelligent comprehensive judgment and coordinated control of the straightness of the hydraulic support group and the scraper conveyor on the working face are realized, effectively ensuring the overall straightness and operational stability of the working face advancement process.

[0162] The systems, devices, modules, or units described in the above embodiments can be implemented by computer chips or entities, or by products with certain functions. A typical implementation device is a computer device, specifically, a computer device can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or any combination of these devices.

[0163] This invention provides a computer device, including a memory and a processor. The memory stores information including program instructions, and the processor controls the execution of the program instructions. When the program instructions are loaded and executed by the processor, they implement the steps of the above-described embodiment of the hydraulic support state control method for downhole working faces. For a detailed description, please refer to the above-described embodiment of the hydraulic support state control method for downhole working faces.

[0164] The following is for reference. Figure 8 It shows a schematic diagram of the structure of a computer device 600 suitable for implementing the embodiments of this application.

[0165] like Figure 8 As shown, the computer device 600 includes a central processing unit (CPU) 601, which can perform various appropriate tasks and processes based on programs stored in read-only memory (ROM) 602 or programs loaded from storage section 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the computer device 600. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0166] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal feedback (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed in storage section 608 as needed.

[0167] In particular, according to embodiments of the present invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of the present invention include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program including program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611.

[0168] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information by any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0169] For ease of description, the above devices are described separately by function as various units. Of course, in implementing this application, the functions of each unit can be implemented in one or more software and / or hardware.

[0170] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0171] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0172] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0173] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0174] The acquisition, storage, use, and processing of data in this application all comply with the relevant provisions of national laws and regulations.

[0175] It should be noted that in the embodiments of this application, certain software, components, models and other existing solutions in the industry may be mentioned. These should be regarded as exemplary and are only intended to illustrate the feasibility of implementing the technical solution of this application. However, it does not mean that the applicant has used or necessarily used the solution.

[0176] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0177] This application can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform a specific task or implement a specific abstract data type. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0178] The various embodiments in this specification are described in a progressive manner. Similar or identical parts between embodiments can be referred to mutually. Each embodiment focuses on describing the differences from other embodiments. In particular, the system embodiments are basically similar to the method embodiments, so the description is relatively simple; relevant parts can be referred to the descriptions in the method embodiments.

[0179] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling the state of a hydraulic support in an underground working face, characterized in that, The method includes: Based on the tilt angle data of the hydraulic support and the measurement distance collected by the ranging equipment, the absolute distance between the hydraulic support and the scraper conveyor is determined. If the deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, the hydraulic support is controlled to move toward the scraper conveyor based on the absolute distance until the shifting deviation is within the pre-calculated shifting deviation range. After the scraper conveyor completes the pushing operation, the distribution status of the scraper conveyor is determined based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. If the scraper conveyor is in a curved state, the hydraulic support's shift stroke is corrected based on the pre-calculated push offset and the theoretical maximum push distance, thereby achieving coordinated control of the straightness of the scraper conveyor and the hydraulic support.

2. The method for controlling the state of hydraulic supports in a downhole working face according to claim 1, characterized in that, The determination of the absolute distance between the hydraulic support and the scraper conveyor based on the tilt angle data of the hydraulic support and the measured distance collected by the ranging device includes: Determine whether the tilt angle data is within the pre-calculated normal tilt angle range; If so, the measured distance shall be determined as an absolute distance; If not, the measured distance is projected onto the horizontal direction according to the tilt angle data, and the projected distance is determined as the absolute distance.

3. The method for controlling the state of hydraulic supports in a downhole working face according to claim 2, characterized in that, The method further includes: Obtain the historical tilt angle dataset for each hydraulic support under normal operating conditions; The historical dip angle dataset is fitted with a distribution to construct a dip angle density function; Integrating the dip angle density function yields the dip angle cumulative distribution function; Based on a preset confidence level, the quantiles of the cumulative distribution function of the tilt angle are calculated to obtain the normal tilt angle range.

4. The method for controlling the state of hydraulic supports in a downhole working face according to claim 1, characterized in that, The method further includes: Obtain the historical data set of hydraulic support movement deviations under normal operating conditions; The historical transfer deviation dataset is fitted with a distribution to construct a transfer deviation density function; Integrating the shift deviation density function yields the cumulative distribution function of the shift deviation; Based on a preset confidence level, the quantiles of the cumulative distribution function of the frame shifting deviation are calculated to obtain the range of the frame shifting deviation.

5. The method for controlling the state of hydraulic supports in a downhole working face according to claim 1, characterized in that, The determination of the scraper conveyor distribution status based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information includes: Based on the absolute distance between each hydraulic support and the scraper conveyor, the distance measurement residual for each hydraulic support is generated. Based on the theoretical maximum pushing distance, the scraper conveyor alignment information of the previous cut and the scraper conveyor alignment information of the current cut, the pushing offset of each scraper conveyor of the current cut is generated. Determine whether the maximum ranging residual is less than or equal to a preset first tolerance threshold, and whether the maximum push offset is less than or equal to a preset second tolerance threshold; If all are yes, the distribution state of the scraper conveyor is determined to be a straight state; If at least one of them is not true, the distribution state of the scraper conveyor is determined to be a curved state.

6. The method for controlling the state of hydraulic supports in a downhole working face according to claim 5, characterized in that, The step of generating the distance measurement residual for each hydraulic support based on the absolute distance between each hydraulic support and the scraper conveyor includes: Obtain the median of the absolute distances between each hydraulic support and the scraper conveyor; The distance measurement residual for each hydraulic support is generated based on the median and the absolute distance between each hydraulic support and the scraper conveyor.

7. The method for controlling the state of hydraulic supports in a downhole working face according to claim 5, characterized in that, The process involves generating the pushing offset of each scraper conveyor for the current cut based on the theoretical maximum pushing distance, the scraper conveyor alignment information of the previous cut, and the scraper conveyor alignment information of the current cut. This includes: Based on the scraper conveyor alignment information of the previous cut and the scraper conveyor alignment information of the current cut, the current actual pushing distance is generated; Based on the current actual push distance and the theoretical maximum push distance, a push offset is generated.

8. The method for controlling the state of hydraulic supports in a downhole working face according to claim 1, characterized in that, The process of correcting the movement stroke of the hydraulic support based on the pre-calculated push offset and the theoretical maximum push distance, thereby achieving coordinated control of the straightness of the scraper conveyor and the hydraulic support, includes: The maximum value among the various push-pull offsets is determined as the pull frame adjustment threshold; Based on the aforementioned frame adjustment threshold and the theoretical maximum pushing distance, the corrected frame movement stroke is generated; Each hydraulic support is controlled to move according to the corrected moving stroke, and in the next pushing operation, each scraper conveyor is pushed according to the theoretical maximum pushing distance to complete the coordinated control of the straightness of the scraper conveyor and the hydraulic support.

9. A hydraulic support status control device for an underground working face, characterized in that, The device includes: The absolute distance determination unit is used to determine the absolute distance between the hydraulic support and the scraper conveyor based on the tilt angle data of the hydraulic support and the measured distance collected by the ranging equipment. The correction unit is used to control the hydraulic support to move toward the scraper conveyor based on the absolute distance if the shifting deviation between the absolute distance and the preset shifting distance threshold is outside the pre-calculated shifting deviation range, until the shifting deviation is within the pre-calculated shifting deviation range. The distribution status determination unit is used to determine the distribution status of the scraper conveyor after the scraper conveyor has completed the pushing operation, based on the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum pushing distance, and the obtained scraper conveyor alignment information. The collaborative control unit is used to correct the shifting stroke of the hydraulic support based on the pre-calculated push offset and the theoretical maximum push distance if the scraper conveyor is in a curved state, thereby completing the collaborative control of the straightness of the scraper conveyor and the hydraulic support.

10. A computer-readable medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the downhole working face hydraulic support status control method according to any one of claims 1 to 8.

11. A computer device comprising a memory and a processor, the memory for storing information including program instructions, and the processor for controlling the execution of the program instructions, characterized in that, When the program instructions are loaded and executed by the processor, the method for controlling the state of hydraulic supports in a downhole working face as described in any one of claims 1 to 8 is implemented.

12. A computer program product comprising a computer program / instructions, characterized in that, When the computer program / instruction is executed by the processor, it implements the downhole working face hydraulic support status control method according to any one of claims 1 to 8.

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