针对煤矿井下采充留的高效发展需求，本文从材料、工艺、装备、自动化控制等方面展开了研究，研制了一种新型矿用充填留巷双效型胶凝材料，具有早强快硬特性，适合煤矿井下的恒温恒湿环境及工作面快速推进需求。以固体充填开采工作面为基础，推导得出了考虑工作面尺寸、设备参数和工艺过程的采充平行作业推进速度控制模型，用于指导优化充填开采速度、材料性能。研制的机械化高效充填留巷装备对于提高煤矿采充留的效率和安全性具有重要意义。

 In response to the efficient development needs of underground mining and filling, research was conducted from the perspectives of materials, processes, equipment, and automated control. A new type of mine filling and retaining roadway dual-effect adhesive material was developed, which had early strength and rapid hardening properties. It was suitable for the constant temperature, humidity environment and the rapid advance requirements of underground coal mines. Based on the solid filling mining face, a model for controlling the parallel operation and advance speed of mining and filling was derived, considering the size of the working face, equipment parameters, and process, and used to guide the optimization of filling mining speed. The research on mechanized high-efficiency equipment and the application of technology along the filling and entry retaining were of great significance for improving the efficiency and safety of coal mining and filling.