CN-122014314-A - Underground working face hydraulic support state regulation and control method and device

Abstract

The invention provides a method and a device for regulating and controlling the state of a hydraulic support of an underground working face, wherein the method comprises the steps of determining the absolute distance between the hydraulic support and a scraper conveyor based on inclination angle data and measured distance of the hydraulic support, controlling the hydraulic support to move to the scraper conveyor within the range of the deviation of the frame moving distance if the deviation of the frame moving distance between the absolute distance and a threshold value of the frame moving distance is out of the range of the deviation of the frame moving distance, judging the distribution state of the scraper conveyor according to the absolute distance between each hydraulic support and the scraper conveyor in the underground working face, the theoretical maximum sliding distance and linear information of the scraper conveyor after the scraper conveyor finishes sliding operation, and carrying out flatness cooperative control on the scraper conveyor and the hydraulic support if the hydraulic support is in a bending state, so that the accuracy of single frame moving in place is remarkably improved, and the intelligent comprehensive judgment and cooperative regulation of the flatness state of the hydraulic support group and the scraper conveyor of the working face are realized, and the integral straightness and running stability of the working face in the pushing process are effectively ensured.

Inventors

• WANG DONGJUN

Assignees

• 西安华创智控自动化控制系统有限公司

Dates

Publication Date

20260512

Application Date

20260211

Claims (12)

1. 1. The method for regulating and controlling the state of the hydraulic support of the underground working face is characterized by comprising the following steps: determining the absolute distance between the hydraulic support and the scraper conveyor based on the inclination angle data of the hydraulic support and the measurement distance acquired by the distance measuring equipment; If the frame moving deviation between the absolute distance and a preset frame moving distance threshold value is out of a pre-calculated frame moving deviation range, controlling the hydraulic support to move towards the scraper conveyor by taking the absolute distance as a reference until the frame moving deviation is in the pre-calculated frame moving deviation range; After the scraper conveyor finishes the pushing and sliding operation, judging the distribution state of the scraper conveyor according to the absolute distance between each hydraulic support in the underground working surface and the scraper conveyor, the theoretical maximum pushing and sliding distance and the acquired linear information of the scraper conveyor; and if the distribution state of the scraper conveyor is a bending state, correcting the frame moving stroke of the hydraulic support based on the pre-calculated pushing deflection and the theoretical maximum pushing distance, and completing the cooperative control of the flatness of the scraper conveyor and the hydraulic support.
2. 2. The method for adjusting and controlling the state of a hydraulic support on a downhole working surface according to claim 1, wherein determining the absolute distance between the hydraulic support and a scraper conveyor based on the inclination angle data of the hydraulic support and the measurement distance acquired by the distance measuring device comprises: Judging whether the inclination angle data is in a pre-calculated normal inclination angle range or not; if yes, determining the measured distance as an absolute distance; and if not, projecting the measured distance in the horizontal direction according to the inclination angle data, and determining the projection distance as an absolute distance.
3. 3. The downhole working face hydraulic support status adjustment method according to claim 2, wherein the method further comprises: Acquiring a historical inclination angle data set of each hydraulic support under a normal working condition; performing distribution fitting on the historical dip angle data set to construct a dip angle density function; integrating the dip angle density function to obtain a dip angle cumulative distribution function; and calculating the quantile of the inclination cumulative distribution function based on a preset confidence level to obtain the normal inclination range.
4. 4. The downhole working face hydraulic support status adjustment method of claim 1, further comprising: Acquiring a historical frame moving deviation data set of each hydraulic support under a historical normal working condition; performing distribution fitting on the historical frame moving deviation data set to construct a frame moving deviation density function; integrating the moving deviation density function to obtain a moving deviation cumulative distribution function; and calculating the quantile of the cumulative distribution function of the moving deviation based on a preset confidence level to obtain the moving deviation range.
5. 5. The method for adjusting and controlling the state of hydraulic supports on a working surface in a well according to claim 1, wherein the determining the distribution state of the scraper conveyor according to the absolute distance between each hydraulic support on the working surface in the well and the scraper conveyor, the theoretical maximum pushing distance and the obtained linear information of the scraper conveyor comprises the following steps: generating a ranging residual error of each hydraulic support according to the absolute distance between each hydraulic support and the scraper conveyor; Generating the pushing offset of each scraper conveyor of the current knife according to the theoretical maximum pushing distance, the linear information of the scraper conveyor of the last knife and the linear information of the scraper conveyor of the current knife; judging whether the maximum ranging residual is smaller than or equal to a preset first tolerance threshold value, and judging whether the maximum push-slip offset is smaller than or equal to a preset second tolerance threshold value; If yes, determining the distribution state of the scraper conveyor as a straight state; And if at least one of the distribution states is not the same, determining the distribution state of the scraper conveyor as a bending state.
6. 6. The method of claim 5, wherein the generating a ranging residual for each hydraulic mount based on an absolute distance between each hydraulic mount and a scraper conveyor comprises: obtaining the median of the absolute distance between each hydraulic support and the scraper conveyor; and generating a ranging residual error of each hydraulic support according to the median and the absolute distance between each hydraulic support and the scraper conveyor.
7. 7. The method for adjusting and controlling the state of a hydraulic support of a downhole working face according to claim 5, wherein the generating the pushing offset of each scraper conveyor of the current knife according to the theoretical maximum pushing distance, the scraper conveyor linear information of the last knife and the scraper conveyor linear information of the current knife comprises: Generating a current actual pushing and sliding distance according to the linear information of the scraper conveyor of the last knife and the linear information of the scraper conveyor of the current knife; And generating a pushing offset according to the current actual pushing distance and the theoretical maximum pushing distance.
8. 8. The method for adjusting and controlling the state of a hydraulic support on a downhole working surface according to claim 1, wherein the correcting the frame moving stroke of the hydraulic support based on the pre-calculated pushing offset and the theoretical maximum pushing distance to complete the cooperative control of the flatness of the scraper conveyor and the hydraulic support comprises: Determining the maximum value of each pushing and sliding offset as a pull frame adjustment threshold; Generating a corrected frame moving stroke according to the frame pulling adjustment threshold value and the theoretical maximum pushing distance; And controlling each hydraulic support to move according to the corrected frame moving stroke, and executing pushing operation on each scraper conveyor according to the theoretical maximum pushing distance in the next pushing operation, so as to complete cooperative control of the flatness of the scraper conveyor and the hydraulic support.
9. 9. A downhole hydraulic support status adjustment device, the device comprising: The absolute distance determining unit is used for determining the absolute distance between the hydraulic support and the scraper conveyor based on the inclination angle data of the hydraulic support and the measurement distance acquired by the distance measuring equipment; The deviation correcting unit is used for controlling the hydraulic support to move towards the scraper conveyor by taking the absolute distance as a reference until the frame moving deviation is within a pre-calculated frame moving deviation range if the frame moving deviation between the absolute distance and a preset frame moving distance threshold is outside the pre-calculated frame moving deviation range; the distribution state judging unit is used for judging the distribution state of the scraper conveyor according to the absolute distance between each hydraulic support in the underground working surface and the scraper conveyor, the theoretical maximum pushing distance and the acquired linear information of the scraper conveyor after the scraper conveyor finishes pushing operation; And the cooperative control unit is used for correcting the frame moving travel of the hydraulic support based on the pre-calculated pushing deflection and the theoretical maximum pushing distance if the distribution state of the scraper conveyor is a bending state, and completing cooperative control on the flatness of the scraper conveyor and the hydraulic support.
10. 10. A computer readable medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the downhole working face hydraulic support state regulation method according to any one of claims 1 to 8.
11. 11. A computer device comprising a memory for storing information including program instructions and a processor for controlling execution of the program instructions, wherein the program instructions when loaded and executed by the processor implement the downhole working surface hydraulic support state regulation method of any one of claims 1 to 8.
12. 12. A computer program product comprising computer programs/instructions which when executed by a processor implement the downhole working surface hydraulic support status regulation method according to any of claims 1 to 8.

Description

Underground working face hydraulic support state regulation and control method and device Technical Field The invention relates to the technical field of intelligent mining of coal mines, in particular to a method and a device for regulating and controlling the state of a hydraulic support of an underground working face. Background In the fully-mechanized mining face mining process, the propulsion state of the hydraulic support is directly related to the realization and safe production of three straight faces (straight supports, straight conveyor and straight coal wall) of the face. At present, the measurement of the advancing distance of the hydraulic support mainly depends on a travel sensor, the sensor acquires advancing data by detecting the displacement of a travel rod relative to a magnetic ring, the measurement precision of the sensor is within the engineering allowable range, but the measured result is essentially the relative displacement of a mechanical part, and the actual spatial distance of the hydraulic support relative to the scraper conveyor cannot be truly reflected. In actual exploitation, due to the influences of factors such as fluctuation of a working surface bottom plate, posture change of a hydraulic support, mechanical connection clearance, abrasion and the like, the actual propulsion state of the hydraulic support is difficult to accurately represent by only depending on the output value of a travel sensor, accumulated errors of propulsion distances are easily increased, and further the judgment reliability of key states such as whether the hydraulic support is in place, whether the hydraulic support is lost or not is influenced. In the prior art, a travel sensor is generally used for monitoring the pulling or pushing process of the hydraulic support, and whether the hydraulic support is lost or not is judged by comparing the output value of the travel sensor with a preset threshold value. In addition, the propulsion step curves can be drawn based on the history data of the travel sensor, so that the propulsion conditions of the hydraulic support in the multi-time pushing and sliding and moving processes can be intuitively reflected. However, this solution has the obvious limitation that the travel sensor measures the displacement of the mechanical parts inside the hydraulic support instead of the actual distance between the support and the scraper conveyor. In the actual dynamic propulsion process, errors caused by factors such as uneven bottom plates, inclination angle changes of the support, mechanical clearances and the like are accumulated continuously along with the continuous progress of the propulsion operation, so that judgment results based on the travel sensor deviate from the actual conditions gradually, and finally, the frame loss identification accuracy is reduced, and the working face flatness control capability is insufficient. In summary, the existing hydraulic support propulsion state monitoring method based on the travel sensor has significant shortcomings in the aspects of real distance sensing, error accumulation resistance and attitude adaptability, and is difficult to meet the control requirements of a fully mechanized mining face with high reliability. Therefore, a detection and regulation method capable of directly and accurately obtaining the absolute distance between the hydraulic support and the scraper conveyor and effectively eliminating the influence of the attitude and the mechanical error is needed, so as to improve the accuracy of the frame loss judgment of the hydraulic support and the stability of the integral flatness control of the working surface. This section is intended to provide a background or context to the embodiments of the application that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section. Disclosure of Invention The invention aims to provide a method for regulating and controlling the state of a hydraulic support of an underground working face, which can realize high-precision and anti-interference direct measurement of the absolute distance between the hydraulic support and a scraper conveyor, and based on the method, construct closed-loop deviation correction control of the hydraulic support moving frame, obviously improve the single-frame moving frame in-place precision, and simultaneously realize intelligent comprehensive judgment and cooperative regulation and control of the alignment state of the hydraulic support group of the working face and the scraper conveyor by fusing multiple-frame ranging data and linear information of the scraper conveyor, thereby effectively ensuring the integral straightness and operation stability of the working face propelling process. Another object of the present invention is to provide a downhole hydraulic support status regulating device. It is yet another object of the present invention to provide a computer readable medium. It is a f