Double-work-type self-adaptive role switching coal mine equipment group operation architecture method

Abstract

The invention discloses a double-work-type adaptive role switching coal mine equipment group operation architecture method. Centralized control workers and field workers cooperate and interact. The centralized control worker is directly responsible for task-level tasks of the cloud end, issues an overall task command, globally guides coal mine equipment and fully predicts equipment movement, and is also indirectly responsible for tasks of the edge end and the terminal. Field workers are directly responsible for behavior-level tasks of the edge end, issuing group task commands, processing key working conditions in real time and controlling group actions in real time, and are also directly responsible for action-level tasks of the terminal, issuing independent task commands, fully completing equipment movement and sensitively responding to each element; and meanwhile, field workers are indirectly responsible for cloud tasks. Cooperation of the cloud end and the edge end depends on a resource adjustment module and a space-time deduction module. The cloud end, the edge end and the terminal efficiently cooperate to form a coal mine equipment group efficient operation framework.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mines, and in particular to a method for operating a coal mine equipment group with dual-type adaptive role switching. Background Art

[0002] The intelligentization of the coal mining industry is the development trend. In order to ensure the safe and efficient operation of coal mine equipment in complex underground environments, on the one hand, the mode of human-machine collaboration is constantly changing. While high-intensity and high-repetitive actions are replaced by machines, it is also very important to give full play to the intelligence of the human brain in various equipment and applications. On the other hand, various emerging technologies are gradually emerging, among which cloud computing, edge computing, digital twins and virtual reality technologies have become powerful tools for the construction of intelligent working faces in coal mines. The use of these technologies provides a feasible path for the intelligentization of coal mines.

[0003] The invention of publication number CN116305964A discloses an intelligent mining face system based on digital twin technology, including a physical layer, a twin layer, a perception layer, a decision layer and a front-end layer; the physical layer is the real scene of the intelligent mining face; the perception layer is used to collect real-time data of the physical layer through data acquisition equipment and send it to the twin layer and the decision layer; the twin layer is used to build a virtual model of the physical layer according to the basic information and real-time data of the physical layer; the decision layer is used to control the physical layer and the twin layer according to the real-time data and the virtual model; the front-end layer is used to visualize the virtual model built by the twin layer. The present invention solves the problem of low real-time data information flow of comprehensive mining equipment and mining scenes, and to a certain extent, the intelligent mining face has taken a step forward. By setting the physical layer, the twin layer, the perception layer, the decision layer and the front-end layer, a relatively complete intelligent mining face system is proposed, which provides a good idea for the application of digital twins in underground coal mines.

[0004] The invention of publication number CN113362037A discloses an edge cloud-based coal mine intelligent management system and method, including a ground system, a communication network module and an underground system; the ground system is used to train the coal mine data model and transmit it to the underground system through cloud technology; the fast communication network is used to provide a data transmission channel for the ground system and the underground system; the underground system is used to receive the trained coal mine data model transmitted by the ground system and apply it. Step 1, in the coal mine ground system, the interaction module obtains the training request, and the training module develops and trains the algorithm model according to the training request; Step 2, the algorithm model after development and training is sent to the central cloud, the central cloud obtains the corresponding software and hardware device interface through the fast communication network, and sends the algorithm model after development and training to the edge cloud system underground; Step 3, the algorithm model after development and training is deployed to the underground system for application.

[0005] The invention of publication number CN117675821A discloses a distributed edge data real-time processing system for intelligent mining working faces, including a coal mining equipment group, a sensor cluster, an edge distributed cluster and a cloud server; the sensor cluster is used to collect the real-time working condition data of each comprehensive mining equipment and send it to the edge distributed cluster; the edge distributed cluster is used to pre-process the real-time working condition data and store real-time data, manage the master node and multiple slave nodes, and perform intelligent diagnosis based on the pre-processed real-time working condition data and the intelligent diagnosis model issued by the cloud server; the cloud server is used to store the pre-processed real-time working condition data and build an intelligent diagnosis model. By deploying the edge distributed cluster on the working face, some tasks of the cloud server are issued from the cloud server, which reduces the storage pressure of the server and effectively reduces the network delay of remote data transmission.

[0006] The invention of publication number CN117733844A discloses a three-level n-dimensional digital twin system that supports the coupled operation of coal mine robot groups, including three levels: terminal, edge and cloud. The robot group in the terminal physical layer generates a single-machine behavior-level twin in the terminal virtual layer based on real-time data through the terminal AI model to achieve virtual-real bidirectional control. The on-site operator obtains enhanced information through AR devices, feedbacks decision-making opinions, and multi-modal control nodes; the edge virtual layer generates a collaborative task-level twin based on the single-machine behavior-level twin, and builds an n-dimensional edge twin system through the edge AI model. The computer host of the cloud physical layer provides computing power support for the n-dimensional cloud twin system. The centralized control operator accesses the cloud twin system through VR equipment to achieve remote monitoring and control; the cloud virtual layer generates a global planning-level twin based on edge-side data, and realizes parallel analysis of the n-dimensional cloud twin system through the cloud AI model to comprehensively obtain the optimal global plan.

[0007] The invention of publication number CN116935004A discloses a method for the coordinated intelligent operation of multiple types of workers in a fully mechanized mining face based on a virtual parallel system. A multifunctional virtual parallel system is constructed, and the local information of the fully mechanized mining face operation obtained by the patrol workers and the maintenance workers interacts with the multifunctional virtual parallel system in real time; the multifunctional virtual parallel system integrates the virtual simulation scene of the working face driven by real-time data with the local information to form a virtual scene that operates in real time with high precision; according to the virtual scene that operates in real time with high precision, the multifunctional virtual parallel system performs an intelligent deduction process; the centralized control worker interacts with the patrol workers and the maintenance workers in real time and guides the patrol workers and the maintenance workers to operate according to the results of the intelligent deduction. The present invention is based on the multifunctional virtual parallel system and uses intelligent equipment. The three types of workers map the virtual people that are synchronized with themselves in real time into the virtual scene, realizing a coordinated patrol mode of multiple types of workers in a fully mechanized mining face based on "man-machine-environment".

[0008] The invention of publication number CN116619360A discloses a method for collaborative perception, decision-making and control of virtual-reality fusion of multiple robots in coal mines. The method includes two overall cycle processes of virtual perception decision control cycle and physical perception decision control cycle and three distributed cycle processes of virtual-reality collaborative perception cycle, virtual-reality collaborative control cycle and virtual-reality collaborative decision cycle. The virtual environment and the actual environment are combined, and the sensors of multiple robots are used to obtain real-time environmental information of the coal mine, which is integrated with the three-dimensional model and the virtual environment to realize the collaborative perception and path planning of multiple robots. The composition efficiency and accuracy are improved through multi-robot collaborative control and point cloud fusion, and a highly visualized digital twin scene is generated in real time using virtual reality technology, and remote interaction with the robot is carried out through VR equipment based on real-time virtual scenes and video feedback.

[0009] The above existing technologies mostly use emerging technologies to develop or construct new methods for intelligent coal mines, but in general, there are also some shortcomings:

[0010] In terms of human intelligence: the complex situation underground determines that the coal mine equipment group cannot work unmanned, but most inventions focus on considering the intelligent control and interaction of "cloud-edge-end". However, the role that coal miners can play is not sufficient or even unable to bring into play the intelligence of the human brain. The role played by centralized control workers and on-site workers in the coal mine equipment group is variable. Whether it is overall movement, local movement or a single movement of a machine, it depends to a certain extent or is very dependent on manual control and manual inspection. This requires people to play a corresponding role in the "cloud-edge-end" and to be able to adapt to and cooperate with each other to a certain extent, which requires workers to constantly switch their roles.

[0011] In terms of leveraging cloud intelligence: most inventions have considered using the powerful computing power of the cloud to coordinate the work of coal mine equipment groups, but have not fully considered some complex situations. First, the primary task of the cloud is the stable operation of the entire comprehensive mining system, which leads to the task-level tasks issued by the cloud being mostly general and abstract. This goal is not precise enough for the control and perception of the equipment in the coal mine equipment group. Secondly, due to the limited communication conditions underground and the huge data flow in the cloud, it is impossible to guarantee that the information on the cloud will be completely and instantly transmitted to the underground.

[0012] In terms of leveraging edge intelligence: Most inventions regard the edge as the lower layer of the cloud, and its main task is to execute cloud tasks and upload data, but they do not consider that in complex underground situations, the edge must have both a certain degree of autonomous decision-making ability and a certain degree of fine control and perception ability. At the same time, if this requirement relies entirely on electronic equipment, it will impose strict requirements on the equipment's perception ability, computing ability and resource distribution. Therefore, people should be considered as special computing resources and intervene in the work appropriately. How to intervene and when to intervene require the powerful computing power and space-time deduction of the cloud to carry out resource allocation planning and task distribution. Most invention patents lack research and treatment on this phenomenon.

[0013] In terms of terminal operation: whether the equipment performs tasks correctly, whether it moves in place, and whether it meets the expectations of the movement, all have an important impact on the work quality of the coal mine equipment group. Most inventions have not taken into account that due to the limited monitoring conditions underground, the posture information obtained by sensors and video probes cannot fully support the inspection of the entire coal mine equipment group. This requires the introduction of on-site workers who can use specific equipment to combine virtual and real.

[0014] The functions of people on the coal mine equipment group under the overall design of "cloud-edge-end" are very complex. If the centralized control workers are only used as task issuers and the on-site workers are only used as command executors, it will inevitably waste the precious intelligence of people in the coal mine equipment group. Therefore, it is very important for people to switch multiple roles in "cloud-edge-end", which has not been reported in the existing technology. Summary of the invention

[0015] The purpose of the present invention is to provide a coal mine equipment group operation architecture method with dual-work adaptive role switching, based on the "on-site-remote" dual-work and "cloud-edge-end" architecture, to achieve efficient operation of the coal mine equipment group.

[0016] To achieve the above object, the technical solution adopted by the present invention is:

[0017] A dual-type adaptive role switching coal mine equipment group operation architecture method includes three task levels: cloud, edge and terminal;

[0018] The cloud performs task-level tasks; the centralized control worker is directly responsible for the task-level tasks on the cloud, issues overall task commands for the coal mine equipment group equipment, and makes overall decisions and task planning;

[0019] The edge performs behavioral tasks; the on-site workers are directly responsible for the behavioral tasks of the edge, issue group task commands for coal mine equipment group equipment, and perform auxiliary decision-making and local control;

[0020] The terminal performs action-level tasks; the on-site workers are directly responsible for the action-level tasks of the terminal, issue individual action commands to the equipment in the coal mine equipment group, and individually control and adjust the actions of the equipment;

[0021] Centralized control workers are indirectly responsible for the behavior-level tasks at the edge and the action-level tasks at the terminal. Centralized control workers collaborate to provide a global perspective and provide guidance and suggestions for tasks to on-site workers. On-site workers collaborate to provide a local perspective and provide detailed suggestions for the focus of tasks to centralized control workers. They are responsible for the behavior-level tasks at the edge and the action-level tasks at the terminal under the guidance of on-site workers and the assistance of centralized control workers.

[0022] On-site workers are indirectly responsible for task-level tasks in the cloud. They provide the cloud with on-site data of the terminal and auxiliary decisions made by the edge. The cloud processes data and optimizes decisions. They are responsible for task-level tasks in the cloud under the leadership of centralized control workers and the assistance of on-site workers.

[0023] As a preferred embodiment, the cloud includes a centralized control console and a VR system, the edge end includes multiple edge servers, and the terminal includes multiple controllers. In the coal mine equipment group, each hydraulic support is controlled by a separate controller. A group of controllers are aggregated and connected to an edge server, which processes the data uploaded by this group of hydraulic supports and issues instructions after calculation. The edge server is aggregated and connected to the real-time industrial Internet; the wireless base station underground is accessed to the real-time industrial Internet to provide wireless signals, and the mining camera is accessed to the wireless network to provide video monitoring data underground. The real-time industrial Internet is provided by the centralized control substation, and the mining intrinsically safe gigabit switch provides communication and network signals for the centralized control console of the centralized control workers and the centralized control substation; the centralized control console monitors data and video information, observes the virtual reconstructed working face of the VR system, and the computing tasks are completed by the cloud center calculation in the cloud.

[0024] As a preferred embodiment, on-site workers wear AR glasses to access the AR system and carry a microcomputer equipped with generative AI. All of the above devices are connected to the wireless network underground.

[0025] As a preferred implementation, the VR system in which the centralized control workers intervene and the AR system accessed by the on-site workers interact. The AR system is used to enhance the perception of the VR system and provide feedback on the intervention of the VR system. The VR system is used to provide a remote support module for the AR system to help on-site workers provide the global perspective of the centralized control workers. The on-site workers themselves are also reflected in the virtual work surface of the VR system through virtual mapping.

[0026] As a preferred embodiment, the overall collaborative tasks that the centralized control worker is directly responsible for include: (1) coal mining machine motion adjustment and traction control; (2) hydraulic support support and propulsion; (3) scraper conveyor working straightness adjustment.

[0027] As a preferred embodiment, the local collaborative tasks that on-site workers are directly responsible for include: (1) connecting the coal mining machine to the idle edge meter and adjusting the movement state to cooperate with the work; (2) adjusting the position and posture of the grouped hydraulic supports; (3) adjusting the straightness of the grouped scraper conveyor.

[0028] As a preferred embodiment, the single motion tasks that the on-site workers are directly responsible for include: (1) single motion adjustment of individual brackets; and (2) sensor and video probe adjustment.

[0029] As a preferred implementation, it includes a space-time deduction module and a resource adjustment module for coordinating the cloud and edge ends. The centralized control workers rely on VR systems and information monitoring and use cloud center computing to participate in the work. The on-site workers access the AR system and are equipped with microcomputers as edge computing nodes to participate in the work. The on-site workers rely on microcomputers to upload the real-time data of the site to the cloud, and upload the preliminary allocation results to the cloud after preliminarily allocating the computing resources of the on-site edge calculator. The cloud combines the historical data and current data stored in the cloud for deduction, and uses the virtual working surface to analyze the working conditions and predict actions. Finally, the optimized resource allocation decision is generated in the overall decision-making and task planning, and the optimized decision will be sent to the edge calculator.

[0030] Compared with the prior art, the coal mine equipment group operation architecture proposed by the present invention has the following advantages:

[0031] (1) In terms of task classification, the present invention emphasizes that the three levels of the cloud, edge and terminal of the coal mine equipment group have key tasks that need to be directly processed, namely, the task-level tasks of the cloud, the behavior-level tasks of the edge and the action-level tasks of the terminal. But at the same time, the tasks of the three levels do not exist independently but are coordinated and coordinated. Only by supporting each other can the efficient operation of the coal mine equipment group be jointly promoted.

[0032] (2) In terms of giving full play to the intelligence of centralized control workers, the centralized control workers in the present invention are no longer just responsible for issuing tasks. While relying on cloud computing efficiently, they also use communication equipment and human collaboration to closely participate in on-site work. While providing global support for on-site work, they can also enhance the perception and control of on-site conditions.

[0033] (3) In terms of exerting the intelligence of on-site workers, the present invention no longer only serves as a role of receiving orders and executing tasks. The present invention emphasizes the importance of on-site workers' direct perception of the site and makes full use of AR systems and microcomputers to enhance the work ability of on-site workers. When dispatching part or individual equipment on site, it not only obeys the allocation of the overall task, but also has a certain degree of autonomy.

[0034] (4) In terms of the intelligent interaction between the two types of work, the main object of this invention is the adaptive switching of workers' roles in "cloud-edge-end". While the centralized control workers and on-site workers have their own tasks at this level that they are directly responsible for, they will also indirectly affect tasks at other levels on the premise of solving practical problems. The switching of worker roles is determined by the actual working conditions. Human intelligence and the machine intelligence of the coal mine equipment group intelligent system are closely linked, and the dual role of the two types of intelligence is brought into play to promote the efficient operation of the coal mine equipment group.

[0035] (5) In terms of the operation of coal mine equipment groups, in view of the lack of immediacy of cloud response and the strict restrictions of the underground environment on communication conditions, the present invention proposes to enhance the autonomous processing capabilities of edge computing devices to effectively respond to the above challenges. However, the complex spatiotemporal deduction and resource allocation tasks are still handed over to the cloud to complete, and the global perspective provided by the cloud is used to enable the edge and terminal to operate efficiently and autonomously under the premise of overall tasks. At the same time, in order to solve the problem of limited computing power of edge calculators, the present invention integrates microcomputers equipped with generative AI, AR systems and the operations of on-site workers to build an efficient special edge computing work platform. With the intervention of on-site workers, this special edge terminal can share the computing pressure of the original edge calculator while also being able to better collaborate with the cloud through the interaction module between on-site workers and centralized control workers. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 It is a framework diagram of a method for operating a coal mine equipment group with dual-type adaptive role switching according to the present invention;

[0037] Figure 2 It is a schematic diagram of the coal mine equipment group and the two types of worker operation structure;

[0038] Figure 3 This is a flowchart of the adaptive switching of the roles of two types of workers in "cloud-edge-end";

[0039] Figure 4 It is a flow chart of the working mechanism of two types of workers in the coal mine equipment group;

[0040] Figure 5 It is a flow chart of the space-time deduction module and the resource adjustment module. DETAILED DESCRIPTION

[0041] A typical implementation of the present invention provides a method for the operation architecture of a coal mine equipment group with dual-type adaptive role switching. The method is based on the "on-site-remote" dual-type and "cloud-edge-end" architecture. In the cloud, the centralized control worker is directly responsible for the task-level tasks in the cloud, issues overall task commands, globally guides the coal mine equipment, and fully predicts the movement of the equipment, while the on-site workers enhance the perception of the centralized control workers and use other methods to indirectly affect the task-level tasks; at the edge end, the on-site workers are directly responsible for the behavior-level tasks at the edge end, issue group task commands, process key working conditions in real time, and instantly control group actions, while the centralized control workers give global guidance to the on-site workers, indirectly affecting the behavior-level tasks; at the terminal, the on-site workers are directly responsible for the action-level tasks at the application end, issue individual action commands, make each component responsive, and fully complete the equipment movement, while the centralized control workers give a global perspective, indirectly affecting the action-level tasks. In addition, this implementation also considers the computing resource adjustment of edge calculators including on-site workers.

[0042] like Figure 1 As shown, this embodiment includes three different levels of task allocation: cloud, edge and terminal. The three levels of tasks: cloud, edge and terminal are task-level tasks, behavior-level tasks and action-level tasks.

[0043] Among them, the task-level task requires the overall coordination of the equipment in the coal mine equipment group. The task-level task is the overall goal of the work, which requires the equipment to have strong autonomous capabilities to move closer to the overall goal of the task-level task and ultimately achieve overall coordination of the equipment.

[0044] Task-level tasks take a holistic view and provide an overall framework for the smooth and efficient operation of coal mine equipment groups. This task level requires auxiliary decision-making supplements from behavior-level tasks and information and data supplements from action-level tasks. However, it is difficult for this task level to provide very specific operating instructions for all equipment.

[0045] Among them, the behavioral-level tasks require local coordination of equipment in the coal mine equipment group. The behavioral-level tasks are specific tasks of the work, which require the equipment to have a certain degree of autonomy to complete the specific tasks of the behavioral-level tasks and ultimately achieve local coordination of equipment.

[0046] Behavioral-level tasks control the group actions of grouped equipment and provide specific plans for the group actions of coal mine equipment groups. This task level requires the overall planning guidance of task-level tasks and the support of action-level tasks. The resource allocation plan at this task level affects the execution of specific tasks.

[0047] Among them, the action-level task is to require the equipment of the coal mine equipment group to move in a single way. The action-level task is the single action of the actuator, which requires the equipment to be responsive and fully complete the motion command, and finally achieve the single motion command of the equipment. The role of the centralized control worker in the coal mine equipment group is mainly responsible for the task-level tasks on the cloud.

[0048] The action-level task controls the single movement of a single device and is the basic step and foundation for all work of the coal mine equipment group. The quality of its completion affects the various work of the coal mine equipment group. This task level requires overall planning of task-level tasks and direct guidance of behavior-level tasks. The tasks at this task level are the most dependent on manual inspection and adjustment.

[0049] The task-level tasks on the cloud, the behavior-level tasks on the edge, and the action-level tasks on the terminal interact and collaborate. Each level of tasks has an important impact on the efficient operation of the coal mine equipment group. Each level of tasks requires the support of tasks at other levels, and each level of tasks cannot exist independently of tasks at other levels.

[0050] The three levels of tasks interact collaboratively, and the interaction between the cloud and the edge also depends on the space-time deduction module and the resource adjustment module.

[0051] The "on-site-remote" dual-work types involved in this implementation include centralized control workers and on-site workers.

[0052] Among them, the centralized control workers give overall guidance to the on-site workers, and the on-site workers enhance the perception of the centralized control workers; the centralized control workers are directly responsible for the task-level tasks on the cloud, issue overall task commands, make overall decisions and task plans, and are required to be able to globally guide the coal mine equipment and fully predict the movement of equipment.

[0053] On-site workers are directly responsible for behavioral-level tasks at the edge, issuing group task commands, making auxiliary decisions and local control, requiring real-time processing of critical working conditions and immediate control of group actions. In addition, on-site workers are also directly responsible for action-level tasks at the terminal, issuing individual action commands, and individually controlling and adjusting actions, requiring that equipment movement be fully completed and that each component be responsive.

[0054] In addition, centralized control workers are indirectly responsible for behavioral-level tasks at the edge and action-level tasks at the terminal, while on-site workers indirectly assume responsibility for task-level tasks in the cloud.

[0055] like Figure 2As shown in the figure, in the operation architecture of the coal mine equipment group and the two types of workers, each hydraulic support is controlled by a separate controller. A certain number of hydraulic controllers will be aggregated and connected to an edge server, which is responsible for processing the data uploaded by these hydraulic supports and issuing instructions after calculation. All edge servers will eventually be aggregated and connected to the real-time industrial Internet. While the coal mining machine and conveyor are connected to the edge calculator, their power is provided by the power center, which uses a dedicated line to access the real-time industrial Internet to ensure that the movement of the coal mining machine and conveyor can be reflected in the Internet in a timely and accurate manner. At the same time, the wireless base station underground is connected to the real-time industrial Internet to provide wireless signals; the mining camera is connected to the wireless network to provide underground video monitoring data; the on-site workers wear AR glasses and carry microcomputers equipped with generative AI, and these devices are all connected to the underground wireless network. In this way, on-site workers can participate in the work of the coal mine equipment group in real time and efficiently. The real-time industrial Internet is provided by the centralized control substation, and the mining intrinsically safe gigabit switch provides exclusive communication and network signals for the centralized control console and the centralized control substation of the centralized control worker. The centralized control workers monitor data and video information on the centralized control desk and observe the virtually reconstructed working surface through the VR system. The complex computing tasks are completed by the cloud center in the cloud. The centralized control workers and the on-site workers communicate through their respective communication modules to ensure that both parties can collaborate on underground tasks.

[0056] like Figure 3 As shown, the adaptive switching of roles between centralized control workers and on-site workers in the "cloud-edge-end" is based on specific working situations and different task conditions.

[0057] The central control worker is mainly responsible for monitoring data and video information at the central control desk, using the VR system to virtually reconstruct the coal mine equipment group, and taking advantage of the computing power of the cloud center to take a general view of the situation. At this time, the role of the central control worker is in the cloud. With the support of cloud computing and VR systems, the central control worker can directly operate the central control desk and cloud equipment, be responsible for task-level tasks, and issue overall task commands. The cloud role is the role that the central control worker is directly responsible for.

[0058] On-site workers are mainly responsible for observing the working conditions of the coal mine equipment group on site. They wear AR glasses to access the AR system to enhance their perception capabilities, and carry microcomputers equipped with generative AI to improve computing power. At this time, the role of the on-site workers is at the edge. With the support of the AR system and microcomputer, on-site workers can directly operate edge devices and grouped devices, be responsible for behavioral-level tasks, and issue group task commands. On-site workers are also mainly responsible for the inspection and control of individual equipment. At this time, the role of the on-site workers is at the terminal. They can directly operate individual controllers to affect the movement of individual equipment, be responsible for action-level tasks, and issue individual action commands. The edge role and the terminal role are the roles that the on-site workers are directly responsible for.

[0059] After the centralized control worker conveys specific tasks to the on-site workers, or after the on-site workers request centralized control guidance from the centralized control worker, with the support of the voice and video communication module, the centralized control worker will collaborate to provide a global perspective and provide guidance and suggestions for the on-site workers on the tasks, while the on-site workers will collaborate to provide a local perspective and provide detailed suggestions on the tasks to the centralized control worker. When the on-site workers take the lead and the centralized control workers assist, they are responsible for the behavioral-level tasks at the edge and the action-level tasks at the terminal. At this time, the role of the centralized control worker switches to the edge and the terminal, which is also the role that the centralized control worker is indirectly responsible for.

[0060] While field workers are processing field tasks in real time, they will also efficiently provide field data and auxiliary decisions made by the edge to the cloud. After uploading this information to the cloud, the centralized control workers will use the powerful computing power of the cloud to process field data and optimize specific decisions. Field workers will also intervene in data processing and decision optimization based on actual conditions. When the centralized control workers take the lead and the field workers assist, they are responsible for task-level tasks in the cloud. At this time, the role of the field workers is switched to the cloud, which is also the role that the field workers are indirectly responsible for.

[0061] In a relatively specific implementation manner, Figure 4 As shown in the figure, the centralized control workers and the on-site workers rely on the communication module for collaborative interaction, and the centralized control workers adaptively switch their roles in the cloud, edge, and terminal; the on-site workers adaptively switch their roles in the cloud, edge, and terminal. The process of adaptive switching of the roles of centralized control workers and on-site workers in "cloud-edge-end" also supports the collaborative interaction between task-level tasks, behavior-level tasks, and action-level tasks, promoting the efficient operation of coal mine equipment groups.

[0062] When the centralized control workers are directly responsible for task-level tasks in the cloud, they can monitor the visible data and video information of the centralized control console. These information are then deeply combined with the VR system to perform virtual reconstruction of the coal mine equipment group. The centralized control workers can actively control and influence the virtual working surface of the VR system, deduce the actions of the coal mine equipment group in the virtual space, and then rely on the powerful computing power of the cloud to obtain the optimal overall decision and task planning for the work of the coal mine equipment group. After that, the centralized control workers can directly operate the centralized control console and the cloud to convey task-level tasks to the workers underground, the edge ends, and the terminals.

[0063] In the specific work process, the overall coordination tasks of coal mine equipment are directly responsible by the centralized control workers, and these tasks mainly include:

[0064] (1) Coal mining machine motion regulation and traction control;

[0065] (2) Hydraulic support support and advancement;

[0066] (3) Adjust the working straightness of the scraper conveyor.

[0067] In order to complete these tasks, the centralized control workers will intervene in the task-level tasks that the cloud is responsible for through the global perspective of the centralized control console and the results of the VR system. The cloud stores and processes data, monitoring data and video information, and the VR system builds a virtual digital twin working face. Ultimately, the centralized control workers will issue overall decisions and task plans to complete the overall coordination tasks of coal mine equipment.

[0068] The role of the centralized control worker in the coal mine equipment group can indirectly affect the behavior-level tasks at the edge and the action-level tasks at the terminal.

[0069] When the centralized control worker switches to the behavioral-level task on the edge, since the computing power of the edge calculator does not support an overall view of the situation, when the centralized control worker determines that the specific task underground requires his or her participation, or when the on-site worker determines that the task at this time requires the cooperation of the centralized control worker, the centralized control worker can rely on a series of methods such as the analysis of the virtual working surface of the VR system, the linkage between the VR system and the AR system, and the remote communication modules of video and voice, to collaboratively provide a global perspective, and then the local perspective provided by the on-site workers will be refined and focused, and finally specific tasks that are in line with the overall plan will be issued together, and participate in the behavioral-level tasks that the on-site workers are directly responsible for.

[0070] When the centralized control worker switches to the action-level task of the terminal, due to the limitation of the local perspective of the on-site workers, it may not be possible to find the equipment that needs to be adjusted separately. In addition, due to the complex underground environment, it is difficult to ensure that the single movement of the equipment is adjusted appropriately. For the centralized control worker, they can collaborate to provide a global perspective and assist the on-site workers with the support of the remote communication module, so that the on-site workers can adjust the movement of a single device in accordance with the overall plan, thereby participating in the action-level tasks for which the on-site workers are directly responsible.

[0071] The role of on-site workers in the coal mine equipment group is mainly responsible for behavioral-level tasks at the edge and action-level tasks at the terminal.

[0072] When on-site workers are directly responsible for behavioral-level tasks at the edge, they can directly observe the on-site conditions of the coal mine equipment group, and can also monitor the terminal data information collected by the edge calculator. These data and information will be deeply combined with the AR system to enhance the perception of on-site workers. In addition, on-site workers will carry microcomputers equipped with generative AI; the combination of workers' own human brain intelligence, AR system's perception enhancement and microcomputer's computing power can make on-site workers a special edge of the coal mine equipment group. In this state, on-site workers can directly issue local control instructions to interfere with the movement of grouped equipment, or generate auxiliary decisions and local control commands through edge computing at the edge. At this time, on-site workers are directly responsible for the behavioral-level tasks at the edge.

[0073] In the specific work process, the local coordination tasks of coal mine equipment are directly responsible by on-site workers. These tasks include:

[0074] (1) The coal mining machine is connected to the idle edge meter and the movement state is adjusted to cooperate with the work;

[0075] (2) Position adjustment of group hydraulic supports;

[0076] (3) Adjustment of the straightness of group scraper conveyors.

[0077] To complete these tasks, on-site workers wear AR glasses to connect to the AR system for enhanced perception and carry microcomputers equipped with generative AI for enhanced computing. At this time, on-site workers can act as additional edge terminals to handle behavioral-level tasks at the edge. The edge computer is responsible for real-time processing of working conditions and data optimization classification, uploading low-sensitivity data directly to the cloud, and processing sensor perception data, time-sensitive data, and safety-related data before uploading them to the cloud. The processed data will support the edge computer to make auxiliary decisions and local control. At the same time, on-site workers will directly observe the on-site situation, and directly interfere with auxiliary decision-making and local control with the support of generative AI, and ultimately complete the local collaborative tasks of coal mine equipment.

[0078] When the on-site workers are directly responsible for the action-level tasks of the terminal, they must ensure that each device moves fully, each component reacts sensitively, and the actuators supporting the task-level tasks and behavior-level tasks are in place at the site where the coal mine equipment group is working. After inspecting each individual device, if necessary, the on-site workers can directly control the individual device, adjust the device's posture and the component's reaction. At this time, the on-site workers are directly responsible for the action-level tasks of the terminal.

[0079] In the specific work process, the single movement tasks of coal mine equipment are directly responsible by on-site workers. These tasks include:

[0080] (1) Single bracket single motion adjustment;

[0081] (2) Adjustment of sensors and video probes.

[0082] In order to complete these tasks, on-site workers will directly observe the movement of the equipment and check the information conveyed by the sensors in the first place. At this time, on-site workers will rely on the analysis of the working conditions to directly process the action-level tasks of the terminal. After inspecting and controlling individual equipment, they will individually control and adjust the equipment movements and finally complete the single action tasks of the coal mine equipment.

[0083] The cloud needs the support of on-site data. For on-site workers, the data processed and stored on-site and the auxiliary decisions made on-site need to be uploaded to the cloud eventually under good communication conditions. With the collaboration of the resource adjustment module and the space-time deduction module, on-site workers can participate in the task-level tasks that the centralized control workers are mainly responsible for.

[0084] The role of field workers in the coal mine equipment group can indirectly affect the participation in task-level tasks on the cloud. When field workers switch to task-level tasks on the cloud: Due to the lack of immediacy of cloud computing, edge computers will autonomously make preliminary resource allocation decisions and auxiliary decisions on the movement of coal mine equipment to a certain extent when the comprehensive mining system is working, but the edge lacks a global perspective after all, and cloud computing requires the support of basic data, so these data processed and stored on site and auxiliary decisions made on site ultimately need to be uploaded to the cloud, and finally the cloud relies on powerful computing power to process data and optimize decisions. In the process of efficiently providing these data and auxiliary decisions, field workers will assist centralized control workers in participating in task-level tasks on the cloud.

[0085] The VR system used by the centralized control workers interacts deeply with the AR system connected to the on-site workers. The AR system can enhance the perception ability of the VR system and feedback the intervention information of the VR system; while the VR system can provide a remote support module for the AR system to help on-site workers obtain the global perspective of the centralized control workers. The on-site workers themselves will also be reflected in the virtual work surface of the VR system through virtual mapping, which also enables the centralized control workers to actively monitor the work and physical conditions of the on-site workers. When the on-site workers encounter more complex tasks and the on-site workers themselves have health risks, the centralized control workers can make timely judgments and intervene in the specific work of the on-site workers.

[0086] When field workers handle behavioral-level tasks at the edge, the computing power of the edge calculator does not support an overall view of the situation. For centralized control workers, they can rely on the linkage between the VR system and the AR system, rely on collaborative interaction with field workers, and rely on the allocation of computing resources on edge calculators. Then, on the premise of perceiving the overall situation, they can issue specific tasks that conform to the overall plan to field workers, and provide a global perspective to participate in the behavioral-level tasks that field workers are responsible for. When field workers handle action-level tasks at the terminal, due to the limitations of the local perspective of field workers, they may not be able to find the equipment that needs to be adjusted separately, and it may be difficult to ensure the correct adjustment. For centralized control workers, they can rely on a global perspective and remote communication to ensure that field workers can better adjust the movement of a single device, so as to participate in the action-level tasks that field workers are responsible for.

[0087] According to the above implementation methods, the overall coordination, local coordination and single movement of the coal mine equipment group are all mainly responsible for a certain type of worker, while also relying on the indirect influence of other workers to improve work efficiency and interaction. The three levels of task coordination and interaction support the efficient operation of the coal mine equipment group. The overall coordination, local coordination and single movement of the coal mine equipment group are all mainly responsible for a certain type of worker, while also relying on the indirect influence of other workers to improve work efficiency and interaction. The three levels of task coordination and interaction support the efficient operation of the coal mine equipment group.

[0088] like Figure 5 As shown in the figure, the spatiotemporal deduction module and the resource adjustment module are designed to optimize the collaborative operation of the cloud and the edge to overcome their respective limitations: the cloud has powerful computing power but lacks real-time response, while the edge has the advantage of fast response but relatively limited computing resources. In the specific operation process, the centralized control personnel use the VR system and information monitoring to carry out task processing with the help of the powerful computing support of the cloud center; at the same time, the on-site staff use the AR system and the microcomputer they carry as a special edge computing node to join the workflow to achieve efficient collaboration. On-site workers will rely on microcomputers to upload real-time data on the site to the cloud, and upload the preliminary allocation results to the cloud after preliminarily allocating the computing resources of the on-site edge calculator. At this time, on the one hand, the cloud combines the historical data and current data stored in the cloud for deduction, and uses the virtual working surface to analyze the working conditions and predict the actions, and finally generates an optimized resource allocation decision in the overall decision and task planning. This optimized decision will be sent to the edge calculator to ensure efficient collaboration between on-site workers and other edge calculators. On the other hand, the preliminary allocation of computing resources will enable the special edge node of the field worker to receive data from the coal mining machine and the bracket it has just passed, sharing the computing pressure of the edge calculator originally responsible for these brackets. At this time, the field worker will handle tasks with strong immediacy, namely the coal mining machine motion control task and the hydraulic press support task. Spatiotemporal deduction will optimize the decision of resource adjustment, and resource adjustment will also affect the results of spatiotemporal deduction. These two modules can not only utilize the powerful computing power of the cloud, but also give play to the better immediacy of edge computing, so that the centralized control workers and field workers can better handle task-level tasks and behavior-level tasks.

Claims

1. A method for operating a coal mine equipment group with dual-type adaptive role switching, including three task levels: cloud, edge and terminal; characterized in that: The cloud performs task-level tasks; the centralized control worker is directly responsible for the task-level tasks on the cloud, issues overall task commands for the coal mine equipment group equipment, and makes overall decisions and task planning; The edge performs behavioral tasks; the on-site workers are directly responsible for the behavioral tasks of the edge, issue group task commands for coal mine equipment group equipment, and perform auxiliary decision-making and local control; The terminal performs action-level tasks; the on-site workers are directly responsible for the action-level tasks of the terminal, issue individual action commands to the equipment in the coal mine equipment group, and individually control and adjust the actions of the equipment; Centralized control workers are indirectly responsible for the behavior-level tasks at the edge and the action-level tasks at the terminal. Centralized control workers collaborate to provide a global perspective and provide guidance and suggestions for tasks to on-site workers. On-site workers collaborate to provide a local perspective and provide detailed suggestions for the focus of tasks to centralized control workers. They are responsible for the behavior-level tasks at the edge and the action-level tasks at the terminal under the guidance of on-site workers and the assistance of centralized control workers. On-site workers are indirectly responsible for task-level tasks in the cloud. They provide the cloud with on-site data of the terminal and auxiliary decisions made by the edge. The cloud processes data and optimizes decisions. They are responsible for task-level tasks in the cloud under the leadership of centralized control workers and the assistance of on-site workers.

2. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 1 is characterized in that: The cloud end includes a centralized control desk and a VR system, the edge end includes multiple edge servers, and the terminal includes multiple controllers; in the coal mine equipment group, each hydraulic support is controlled by a separate controller, and a group of controllers are aggregated and connected to an edge server, which processes the data uploaded by this group of hydraulic supports and issues instructions after calculation, and the edge server is aggregated and connected to the real-time industrial Internet; the wireless base station underground is connected to the real-time industrial Internet to provide wireless signals, and the mining camera is connected to the wireless network to provide video monitoring data underground. The real-time industrial Internet is provided by the centralized control substation, and the mining intrinsically safe gigabit switch provides communication and network signals for the centralized control desk and the centralized control substation of the centralized control worker; the centralized control desk monitors data and video information, observes the virtual reconstruction working face of the VR system, and the cloud center in the cloud calculates and completes the computing tasks.

3. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 2 is characterized in that: On-site workers wear AR glasses to access the AR system and carry microcomputers equipped with generative AI. All of the above devices are connected to the wireless network underground.

4. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 3 is characterized in that: The VR system in which the centralized control workers intervene interacts with the AR system accessed by the on-site workers. The AR system is used to enhance the perception of the VR system and provide feedback on the intervention of the VR system. The VR system is used to provide a remote support module for the AR system to help on-site workers provide the centralized control workers with a global perspective. The on-site workers themselves are also reflected in the virtual work surface of the VR system through virtual mapping.

5. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 1 or 4, characterized in that: The overall coordination tasks that the centralized control workers are directly responsible for include: (1) coal mining machine movement adjustment and traction control; (2) hydraulic support support and propulsion; (3) scraper conveyor working straightness adjustment.

6. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 5 is characterized in that: The local coordination tasks that on-site workers are directly responsible for include: (1) connecting the coal mining machine to the idle edge meter and adjusting the movement state to cooperate with the work; (2) adjusting the position and posture of the group hydraulic support; (3) adjusting the straightness of the group scraper conveyor.

7. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 6 is characterized in that: The single motion tasks that the on-site workers are directly responsible for include: (1) single motion adjustment of individual brackets; and (2) sensor and video probe adjustments.

8. The method for operating a coal mine equipment group with dual-type adaptive role switching according to claim 7 is characterized by: It includes a space-time deduction module and a resource adjustment module for coordinating the cloud and edge. The centralized control workers rely on VR systems and information monitoring and use cloud center computing to participate in the work. The on-site workers access the AR system and are equipped with microcomputers as edge computing nodes to participate in the work. The on-site workers rely on microcomputers to upload the real-time data of the site to the cloud, and upload the preliminary allocation results to the cloud after preliminarily allocating the computing resources of the on-site edge computer. The cloud combines the historical data and current data stored in the cloud for deduction, and uses the virtual work surface to analyze the working conditions and predict actions. Finally, it generates optimized resource allocation decisions in the overall decision-making and task planning, and the optimized decisions will be sent to the edge computer.

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