Hydraulic support master-slave dispatching and following machine control method, device and electronic equipment

Abstract

The present application discloses a method, device and electronic equipment for master-slave scheduling and machine control of a hydraulic support, the method comprising: obtaining a coal mining process, and entering the coal mining process into a host computer; according to the coal mining process, obtaining the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine; according to the master-slave control logic, sending a master-slave control instruction of the hydraulic support to the hydraulic support electro-hydraulic control system; according to the master-slave control instruction, the hydraulic support implements master-slave scheduling and machine control. Therefore, the present application extracts the master-slave scheduling and machine control logic of the hydraulic support through the coal mining process, and can implement the master-slave scheduling and machine control of the hydraulic support according to the master-slave control logic, thereby improving the accuracy and reliability of the control of the hydraulic support, and further realizing automatic machine control.

Description

Technical Field

[0001] The present application relates to the technical field of mining equipment, and in particular to a method, device and electronic equipment for controlling master-slave scheduling of hydraulic supports. Background Art

[0002] For the fully mechanized mining face in coal mines, the hydraulic support system is usually composed of multiple hydraulic supports. During the hydraulic support following machine control process, each hydraulic support has a certain control correlation with several adjacent supports. Due to the complex geological conditions, various factors such as the control of the fully mechanized mining face through the control of the hydraulic support need to be considered during the support following machine control. Therefore, how to realize the scheduling control of the hydraulic support is an important technical content for realizing automatic control of the fully mechanized mining face.

[0003] In the related art, a support controller of a hydraulic support electro-hydraulic control system determines which control area it is in according to the position of the coal mining machine, and then executes related actions to control the hydraulic support. However, the above control method is unable to dynamically schedule the machine control process and action procedures according to actual production conditions, and technical personnel must intervene on-site.

[0004] Therefore, how to accurately and efficiently control the hydraulic support to achieve automatic follow-up control has become an urgent problem to be solved. Summary of the invention

[0005] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0006] To this end, the first purpose of the present application is to propose a hydraulic support master-slave scheduling and machine control method to solve the technical problem that the hydraulic support cannot be accurately and efficiently controlled in the prior art.

[0007] In order to achieve the above-mentioned objectives, the first aspect of the embodiment of the present application provides a hydraulic support master-slave scheduling and machine control method, the method comprising: obtaining a coal mining process, and entering the coal mining process into a host computer; according to the coal mining process, obtaining a master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine; generating a hydraulic support master-slave control instruction according to the master-slave control logic, and sending the master-slave control instruction to the hydraulic support electro-hydraulic control system; according to the master-slave control instruction, the hydraulic support realizes master-slave scheduling and machine control.

[0008] In addition, a hydraulic support master-slave scheduling and following machine control method according to the above embodiment of the present application may also have the following additional technical features:

[0009] According to one embodiment of the present application, the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine is obtained according to the coal mining process, including: according to the coal mining process, obtaining the hydraulic support control process, action process, propulsion control amount and the associated control process between the hydraulic support and the comprehensive mining equipment; according to the control process, the action process, the propulsion control amount and the associated control process, obtaining the master-slave control logic of the hydraulic support.

[0010] According to one embodiment of the present application, the master-slave control logic of the hydraulic support is obtained according to the control process, the action process, the propulsion control amount, and the associated control process, including: obtaining a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process; according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic, the master-slave control logic of the hydraulic support is obtained.

[0011] According to one embodiment of the present application, a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process are obtained, including: extracting the control processes corresponding to different areas of the comprehensive mining working face to obtain the first master-slave control logic of the hydraulic support; extracting the action process of the hydraulic support corresponding to the position of the coal mining machine to obtain the second master-slave control logic of the hydraulic support; extracting the forward step amount of the hydraulic support of the comprehensive mining working face in a single propulsion cycle to obtain the third master-slave control logic of the hydraulic support; determining the strongly associated control process and the weakly associated control process with the comprehensive mining equipment to obtain the fourth master-slave control logic of the hydraulic support.

[0012] According to one embodiment of the present application, sending a hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system according to the master-slave control logic includes: sending the hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system according to a communication protocol agreed upon between the host computer and the hydraulic support electro-hydraulic control system.

[0013] According to an embodiment of the present application, the master-slave scheduling and following machine control is realized according to the control instruction, including: parsing the control instruction according to the communication protocol, and realizing the master-slave scheduling and following machine control of the hydraulic support according to the parsed content.

[0014] According to one embodiment of the present application, in response to changes in the conditions of the fully mechanized mining face, the coal mining process is adjusted; based on the adjusted coal mining process, the master-slave control logic of the hydraulic support is updated.

[0015] In order to achieve the above-mentioned purpose, the second aspect of the present application provides a hydraulic support master-slave scheduling and following machine control device, which includes: a first acquisition module, used to acquire a coal mining process and enter the coal mining process into a host computer; a second acquisition module, used to acquire the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process; a sending module, used to send a hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system according to the control logic; a control module, used to implement master-slave scheduling and following machine control of the hydraulic support according to the control instruction.

[0016] In addition, a hydraulic support master-slave scheduling and following machine control device according to the above embodiment of the present application may also have the following additional technical features:

[0017] According to one embodiment of the present application, the second acquisition module is also used to: acquire the hydraulic support control process, action process, propulsion control amount and the associated control process between the hydraulic support and the comprehensive mining equipment according to the coal mining process; acquire the master-slave control logic of the hydraulic support according to the control process, the action process, the propulsion control amount and the associated control process.

[0018] According to one embodiment of the present application, the second acquisition module is also used to: acquire a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process; acquire the master-slave control logic of the hydraulic support according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic.

[0019] According to one embodiment of the present application, the second acquisition module is also used to: acquire a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process; acquire the master-slave control logic of the hydraulic support according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic.

[0020] According to one embodiment of the present application, the second acquisition module is also used to: extract the control processes corresponding to different areas of the comprehensive mining working face to obtain the first master-slave control logic of the hydraulic support; extract the action process of the hydraulic support corresponding to the position of the coal mining machine to obtain the second master-slave control logic of the hydraulic support; extract the forward step amount of the hydraulic support of the comprehensive mining working face in a single advancement cycle to obtain the third master-slave control logic of the hydraulic support; determine the strongly associated control process and the weakly associated control process with the comprehensive mining equipment to obtain the fourth master-slave control logic of the hydraulic support.

[0021] According to an embodiment of the present application, the sending module is further used to: send the hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system according to the communication protocol agreed upon by the host computer and the hydraulic support electro-hydraulic control system.

[0022] According to an embodiment of the present application, the sending module is further used to: parse the control instruction according to the communication protocol, and implement master-slave scheduling and machine control of the hydraulic support according to the parsed content.

[0023] According to one embodiment of the present application, the device is also used to: adjust the coal mining process in response to changes in the conditions of the fully mechanized mining face; and update the master-slave control logic of the hydraulic support according to the adjusted coal mining process.

[0024] In order to achieve the above-mentioned purpose, the third aspect embodiment of the present application provides an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the hydraulic support master-slave scheduling and following machine control method as described in any one of the first aspect embodiments of the present application.

[0025] In order to achieve the above-mentioned purpose, the fourth aspect embodiment of the present application provides a non-transitory computer-readable storage medium storing computer instructions, which are used to enable the computer to implement the hydraulic support master-slave scheduling and following machine control method as described in any one of the first aspect embodiments of the present application when executed. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A schematic diagram of a method for master-slave scheduling and following machine control of a hydraulic support disclosed in one embodiment of the present application.

[0027] Figure 2 This is a schematic diagram of a method for master-slave scheduling and following machine control of a hydraulic support disclosed in another embodiment of the present application.

[0028] Figure 3This is a schematic diagram of a method for master-slave scheduling and following machine control of a hydraulic support disclosed in another embodiment of the present application.

[0029] Figure 4 This is a schematic diagram of a method for master-slave scheduling and following machine control of a hydraulic support disclosed in another embodiment of the present application.

[0030] Figure 5 A schematic diagram of a method for dynamic adjustment of master-slave scheduling control of a hydraulic support disclosed in an embodiment of the present application.

[0031] Figure 6 A schematic diagram of a method for master-slave scheduling and following machine control of a hydraulic support disclosed in one embodiment of the present application.

[0032] Figure 7 This is a schematic diagram of a master-slave scheduling and following control system for a hydraulic support disclosed in one embodiment of the present application.

[0033] Figure 8 This is a schematic diagram of the structure of a master-slave scheduling and following machine control device for a hydraulic support disclosed in one embodiment of the present application.

[0034] Fig. 9 A schematic diagram of the structure of an electronic device disclosed in an embodiment of the present application. DETAILED DESCRIPTION

[0035] In order to better understand the above technical solution, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0036] A method and device for controlling master-slave scheduling of a hydraulic support according to an embodiment of the present application will be described below with reference to the accompanying drawings.

[0037] Figure 1 It is a flow chart of a hydraulic support master-slave scheduling and following machine control method according to an embodiment disclosed in the present application.

[0038] like Figure 1 As shown, the master-slave scheduling and following machine control method of the hydraulic support proposed in the embodiment of the present application specifically includes the following steps:

[0039] S101. Obtain coal mining technology and enter the coal mining technology into the host computer.

[0040] Among them, the host computer refers to the computer that can directly issue control commands.

[0041] Optionally, coal mining processes suitable for the fully mechanized mining face may be collected in advance, and the coal mining processes may be entered into the host computer using coal mining process editing software.

[0042] It should be noted that the setting of the coal mining process is not limited in this application and can be set according to actual conditions.

[0043] For example, the coal mining process can cover the start and stop of hydraulic supports, coal mining machines, and transportation systems (including scraper conveyors, transfer machines, crushers, and belt conveyors) during the production process, the sequence of actions, and the coordinated control procedures between equipment.

[0044] S102. According to the coal mining process, the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine is obtained.

[0045] It should be noted that after obtaining the coal mining process, the hydraulic support control process, action process, propulsion control quantity and associated control process with the comprehensive mining equipment corresponding to the operating position of the coal mining machine can be extracted from the coal mining process.

[0046] Furthermore, the final master-slave control logic can be formed based on the master-slave control logic corresponding to the hydraulic support control process, the master-slave control logic corresponding to the action process, the master-slave control logic corresponding to the propulsion control amount, and the master-slave control logic corresponding to the associated control process of the comprehensive mining equipment.

[0047] S103, generating a master-slave control instruction of the hydraulic support according to the master-slave control logic, and sending the master-slave control instruction to the hydraulic support electro-hydraulic control system.

[0048] It should be noted that the specific method of sending the hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system is not limited in the present application and can be selected according to actual conditions.

[0049] Optionally, during the coal mining control process, the master-slave control logic of the hydraulic support can be converted into specific execution control instructions and sent to the hydraulic support electro-hydraulic control system, and the hydraulic control system then sends the control instructions to the hydraulic support controller.

[0050] Optionally, before the coal mining control is started, the master-slave control logic of the hydraulic support may be sent to the hydraulic support electro-hydraulic control system in the form of an integral code.

[0051] It should be noted that when the coal mining process is adjusted, the master-slave control logic of the hydraulic support will also be adjusted accordingly, and the updated master-slave control logic code of the hydraulic support can be re-sent to the hydraulic support electro-hydraulic control system to replace the previous code. In this case, the master-slave control logic instructions can be sent to the hydraulic support electro-hydraulic control system process server, or to the hydraulic support controller.

[0052] S104. According to the master-slave control instruction, the hydraulic support realizes the master-slave scheduling and machine control.

[0053] In the embodiment of the present application, after receiving the master-slave control instruction, the hydraulic support can implement master-slave scheduling and machine control according to the master-slave control instruction.

[0054] The master-slave scheduling and machine control method of the hydraulic support provided in the present application obtains the coal mining process and enters the coal mining process into the upper computer, obtains the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process, generates the master-slave control instruction of the hydraulic support according to the master-slave control logic, and sends the master-slave control instruction to the hydraulic support electro-hydraulic control system, and according to the master-slave control instruction, the hydraulic support realizes the master-slave scheduling and machine control. Therefore, the present application extracts the master-slave scheduling control logic of the hydraulic support through the coal mining process, and can realize the master-slave scheduling and machine control of the hydraulic support according to the master-slave control logic, thereby improving the accuracy and reliability of the control of the hydraulic support, and further realizing the automatic machine control.

[0055] The following is an explanation of the process of obtaining the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process.

[0056] As a possible implementation, Figure 2 As shown, based on the above embodiment, the specific process of obtaining the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process in the above step S102 includes the following steps:

[0057] S201. According to the coal mining process, obtain the hydraulic support control process, action process, propulsion control amount and the associated control process between the hydraulic support and the comprehensive mining equipment.

[0058] It should be noted that the control process is a control process for realizing the coordinated advancement of the hydraulic support group in the comprehensive mining working face.

[0059] In the embodiment of the present application, different types of hydraulic control processes can be obtained, for example, a two-way full-cutting depth control process for a fully mechanized mining face, a one-way full-cutting depth control process, and a cutting-adding and cutting-reducing control process at the end of the working face.

[0060] It should be noted that the action process is a more direct guide to the specific actions of the hydraulic support that is lower than the control process level. The common action processes of the hydraulic support include many different forms. In the related technology, the action process of the hydraulic support is often judged manually or by the hydraulic support itself according to the position and running direction of the coal mining machine. However, based on the manual judgment method, the action process is relatively complicated, while judging the action process by the hydraulic support itself is relatively simple, but it cannot meet the application of special situations. Therefore, the present application can obtain the action process of the hydraulic support based on the host computer and combined with the actual position of the coal mining machine.

[0061] It should be noted that the action process can be the type of hydraulic support to be acted, the number of supports to be acted, and the direction of action execution.

[0062] It should be noted that the propulsion control amount is the forward movement step amount of the hydraulic support in a single propulsion cycle determined based on the control process and combined with the propulsion step amount of the hydraulic support.

[0063] Among them, the correlation control processes between hydraulic supports and fully mechanized mining equipment include two types: strongly correlated processes and weakly correlated processes.

[0064] It should be noted that a strongly associated process means that the two processes must be executed according to a fixed logic. If the predecessor process is not completed, the subsequent process cannot be started. A weakly associated process means that there is a logical relationship between the two processes, but it does not affect the independent execution of the processes.

[0065] S202, obtaining the master-slave control logic of the hydraulic support according to the control process, action process, propulsion control amount, and associated control process.

[0066] As a possible implementation, Figure 3 As shown, based on the above embodiment, the specific process of obtaining the master-slave control logic of the hydraulic support according to the control process, action process, propulsion control amount, and associated control process in the above step S202 includes the following steps:

[0067] S301, obtaining a first master-slave control logic corresponding to a control process, a second master-slave control logic corresponding to an action process, a third master-slave control logic corresponding to a propulsion control amount, and a fourth master-slave control logic corresponding to an associated control process.

[0068] In an embodiment of the present application, when obtaining the first master-slave control logic corresponding to the control process, the control processes corresponding to different areas of the comprehensive mining working face can be extracted to obtain the first master-slave control logic corresponding to the control process.

[0069] For example, the control processes corresponding to the three areas of the middle, head and tail of the coal mining machine in the comprehensive mining face can be extracted, and then the control processes of different areas can be combined according to the operating trajectory of the coal mining machine, thereby achieving continuous advancement of the entire working face.

[0070] In an embodiment of the present application, when obtaining the second master-slave control logic corresponding to the action process, the action process of the hydraulic support corresponding to the position of the coal mining machine can be extracted to obtain the second master-slave control logic corresponding to the action process.

[0071] In the embodiment of the present application, in order to reduce the difficulty of scheduling the action procedures of the hydraulic support, the action types of the hydraulic support are sorted out, and the action procedures can be a combination of five action types: moving the frame, pushing and sliding, pushing and beveling, retracting the protective side and top, and extending the protective side and top.

[0072] In an embodiment of the present application, when obtaining the third master-slave control logic corresponding to the propulsion control amount, the forward step amount of the hydraulic support of the comprehensive mining working face in a single propulsion cycle can be extracted to obtain the third master-slave control logic corresponding to the propulsion control amount.

[0073] For example, the forward step amount of each hydraulic support in a single propulsion cycle of the comprehensive mining working face can be extracted, and the control propulsion amount of each hydraulic support can be determined individually to obtain the third master-slave control logic corresponding to the propulsion control amount.

[0074] In an embodiment of the present application, when obtaining the fourth master-slave control logic corresponding to the associated control process, the strongly associated control process and the weakly associated control process with the comprehensive mining equipment can be determined to obtain the fourth master-slave control logic of the hydraulic support.

[0075] S302: Obtain the master-slave control logic of the hydraulic support according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic.

[0076] In an embodiment of the present application, after obtaining the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic, the final master-slave control logic of the hydraulic support can be formed according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic.

[0077] The master-slave scheduling and following machine control method of the hydraulic support provided in the present application can obtain the control process, action process, propulsion control amount and the associated control process between the hydraulic support and the comprehensive mining equipment according to the coal mining process, and obtain the master-slave control logic of the hydraulic support according to the control process, action process, propulsion control amount and the associated control process. Therefore, the present application extracts the master-slave scheduling control logic of the hydraulic support through the coal mining process, and then can realize the master-slave scheduling and following machine control of the hydraulic support according to the master-slave control logic, thereby improving the accuracy and reliability of the hydraulic support following machine control.

[0078] Furthermore, after the master-slave control logic of the hydraulic support is acquired, a master-slave control instruction of the hydraulic support can be generated according to the master-slave control logic, and the master-slave control instruction can be sent to the hydraulic support electro-hydraulic control system.

[0079] In the application embodiment, the hydraulic support master-slave control instruction can be sent to the hydraulic support electro-hydraulic control system according to the communication protocol agreed upon by the host computer and the hydraulic support electro-hydraulic control system.

[0080] Furthermore, the control instructions can be parsed according to the communication protocol to implement master-slave scheduling and machine control of the hydraulic support according to the parsed content.

[0081] It should be noted that the control of the hydraulic support frame moving action can be optimized. For the action process, the automatic frame moving control mode of the hydraulic support in the action process can be summarized to form a variety of control modes, namely, rate frame moving control mode, top-wiping frame moving control mode, high-lift bottom frame moving control mode, fixed column lowering control mode, etc. Four automatic frame moving control scheduling protocols can be jointly formulated with the host computer and the hydraulic support electro-hydraulic control system. The corresponding control logic can be formed by setting the frame moving control mode of each hydraulic support in the coal cutting cycle, and then the corresponding scheduling control instructions can be formed according to the control logic to realize scheduling control.

[0082] It should be noted that in the actual mining process, due to changes in coal seam conditions, the coal mining process needs to be dynamically adjusted. For example, the working face adopts a two-way full-depth cutting control process in the normalized production process. However, due to the actual situation of the scraper conveyor jumping up and down during the continuous advancement, it is necessary to use one or several working face end knife adding and knife reducing control processes to perform a coal cutting cycle when the upward and downward trend increases to a certain threshold, so as to alleviate the upward and downward trend of the scraper conveyor. In this case, the coal mining process can realize the process jump switching, switching from the two-way full-depth cutting control process to the face end knife adding and knife reducing control process. After the process switching is completed, the master-slave scheduling hydraulic support control process, action process, advancement control quantity and control process associated with the comprehensive mining equipment can be switched synchronously to ensure the continuity of hydraulic support control after the coal mining process is adjusted.

[0083] As a possible implementation, Figure 4 As shown, based on the above embodiment, the specific process of adjusting the coal mining process includes the following steps:

[0084] S401. In response to changes in conditions at the fully mechanized mining face, adjust the coal mining process.

[0085] It should be noted that the coal mining process can be displayed through the human-computer interaction interface of the upper computer. During the production process of the working face, the hydraulic support control process is executed to a specific process. When the conditions of the comprehensive mining working face change, the human-computer interaction interface can prompt to adjust the coal mining process and display other coal mining processes.

[0086] It should be noted that the specific method for adjusting the coal mining process is not limited in this application and can be selected according to actual conditions.

[0087] Optionally, adjustments can be made after comprehensive judgment based on certain preset parameter thresholds. Optionally, the rationality of the coal mining process adjustment can be comprehensively judged through artificial intelligence algorithm learning to make process adjustments.

[0088] S402: Update the master-slave control logic of the hydraulic support according to the adjusted coal mining process.

[0089] In an embodiment of the present application, after the coal mining process is adjusted, the master-slave control logic of the hydraulic support can be updated, and based on the updated control logic, new master-slave control instructions of the hydraulic support can be generated, and master-slave control instructions can be sent to the hydraulic support electro-hydraulic control system to perform master-slave scheduling and machine control of the hydraulic support.

[0090] For example, the dynamic adjustment process of the master-slave scheduling control of hydraulic supports, such as Figure 5 As shown, during the normal operation of the upper computer, the master-slave scheduling control logic of the hydraulic support is formed after the coal mining process is called, and the hydraulic support is controlled according to the master-slave scheduling control logic. In this process, the upper computer monitors the execution of the support scheduling according to the coal mining process. When it is determined that the coal mining process needs to be adjusted, the coal mining process of the working face is adjusted after running to a certain process. Finally, the master-slave scheduling control instruction of the hydraulic support is reloaded according to the adjustment of the coal mining process. The hydraulic support is executed according to the new master-slave scheduling control logic, and the hydraulic support realizes master-slave scheduling and machine control.

[0091] The master-slave scheduling and following control method of the hydraulic support provided in the present application adjusts the coal mining process in response to changes in the conditions of the comprehensive mining working face, and updates the master-slave control logic of the hydraulic support according to the adjusted coal mining process. Therefore, the coal mining process can be adjusted according to the actual conditions on site of the comprehensive mining working face, and the master-slave scheduling control logic of the hydraulic support is dynamically updated according to the process adjustment to adapt to the control changes and improve the flexibility and reliability of the control of the hydraulic support.

[0092] The specific process of the master-slave scheduling and following machine control method of the hydraulic support proposed in this application is explained below.

[0093] For example, Figure 6 As shown, by pre-collecting the pre-coal mining process and using the coal mining process editing software to enter the coal mining process into the host computer, the master-slave control logic of the hydraulic support is extracted from the coal mining process, wherein the master-slave control logic of the hydraulic support includes: the first master-slave control logic corresponding to the control process, the second master-slave control logic corresponding to the action process, the third master-slave control logic corresponding to the propulsion control amount, and the fourth master-slave control logic corresponding to the associated control process. The final master-slave control logic of the hydraulic support can be formed by combining the above four master-slave control logics. Furthermore, the master-slave control instructions of the hydraulic support can be issued according to the communication protocol agreed upon by the host computer and the support electro-hydraulic control system. Finally, after receiving the master-slave control instructions, the electro-hydraulic control system of the hydraulic support parses them according to the content of the communication protocol and executes the control.

[0094] Furthermore, a hydraulic support master-slave scheduling and following machine control system can be formed based on the hydraulic support master-slave scheduling and following machine control method. For example, Figure 7 As shown, the hydraulic support master-slave scheduling and following control system is composed of a host computer, coal mining process editing software running on the host computer, a hydraulic support electro-hydraulic control system, a hydraulic support electro-hydraulic control system process server and a communication link, among which the host computer, the support controller and the process server can be used to store the master-slave scheduling control logic.

[0095] To sum up, the master-slave scheduling and following machine control method of hydraulic support proposed in this application extracts the master-slave scheduling control logic of hydraulic support through coal mining process, and can realize the master-slave scheduling and following machine control of hydraulic support according to the master-slave control logic, thereby improving the accuracy and reliability of hydraulic support control, and then realizing automatic following machine control. At the same time, the coal mining process can be adjusted according to the actual situation at the site of the comprehensive mining working face, and then the master-slave scheduling control logic of the hydraulic support is also dynamically updated to meet the control change requirements.

[0096] Figure 8 It is a structural schematic diagram of a hydraulic support master-slave scheduling and following machine control device according to an embodiment disclosed in the present application.

[0097] like Figure 7 As shown, the hydraulic support master-slave scheduling and following machine control device 100 includes: a first acquisition module 11, a second acquisition module 12, a sending module 13 and a control module 14. Among them,

[0098] The first acquisition module 11 is used to acquire the coal mining process and input the coal mining process into the host computer;

[0099] The second acquisition module 12 is used to acquire the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process;

[0100] The sending module 13 is used to send the hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system according to the control logic;

[0101] The control module 14 is used to implement master-slave scheduling and machine control on the hydraulic support according to the control instructions.

[0102] According to one embodiment of the present application, the second acquisition module 12 is also used to: obtain the hydraulic support control process, action process, propulsion control amount and the associated control process between the hydraulic support and the comprehensive mining equipment according to the coal mining process; obtain the master-slave control logic of the hydraulic support according to the control process, the action process, the propulsion control amount and the associated control process.

[0103] According to one embodiment of the present application, the second acquisition module 12 is also used to: obtain a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process; according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic, obtain the master-slave control logic of the hydraulic support.

[0104] According to one embodiment of the present application, the second acquisition module 12 is also used to: obtain a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process; according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic, obtain the master-slave control logic of the hydraulic support.

[0105] According to one embodiment of the present application, the second acquisition module 12 is also used to: extract the control processes corresponding to different areas of the comprehensive mining working face to obtain the first master-slave control logic of the hydraulic support; extract the action process of the hydraulic support corresponding to the position of the coal mining machine to obtain the second master-slave control logic of the hydraulic support; extract the forward step amount of the hydraulic support of the comprehensive mining working face in a single advancement cycle to obtain the third master-slave control logic of the hydraulic support; determine the strongly associated control process and the weakly associated control process with the comprehensive mining equipment to obtain the fourth master-slave control logic of the hydraulic support.

[0106] According to an embodiment of the present application, the sending module 13 is further used to: send the hydraulic support master-slave control instruction to the hydraulic support electro-hydraulic control system according to the communication protocol agreed upon by the host computer and the hydraulic support electro-hydraulic control system.

[0107] According to an embodiment of the present application, the sending module 13 is further used to: parse the control instruction according to the communication protocol, and implement master-slave scheduling and machine control of the hydraulic support according to the parsed content.

[0108] According to one embodiment of the present application, the device 1000 is also used to: adjust the coal mining process in response to changes in the conditions of the fully mechanized mining face; and update the master-slave control logic of the hydraulic support according to the adjusted coal mining process.

[0109] The embodiment of the present application provides a hydraulic support master-slave scheduling and machine control device, which obtains the coal mining process and enters the coal mining process into the upper computer, obtains the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process, generates the master-slave control instructions of the hydraulic support according to the master-slave control logic, and sends the master-slave control instructions to the hydraulic support electro-hydraulic control system. According to the master-slave control instructions, the hydraulic support realizes master-slave scheduling and machine control. Therefore, the present application extracts the master-slave scheduling control logic of the hydraulic support through the coal mining process, and can realize the master-slave scheduling and machine control of the hydraulic support according to the master-slave control logic, thereby improving the accuracy and reliability of the control of the hydraulic support, and further realizing automatic machine control.

[0110] In order to implement the above embodiment, the present application also proposes an electronic device 2000, such as Fig. 9 As shown, it includes a memory 210, a processor 220, and a computer program stored in the memory 210 and executable on the processor 220. When the processor executes the program, the aforementioned hydraulic support master-slave scheduling and following machine control method is implemented.

[0111] In order to implement the above embodiment, the present application also proposes a non-transitory computer-readable storage medium storing computer instructions, and the computer instructions are used to implement the above-mentioned hydraulic support master-slave scheduling and following machine control method when executed by a computer.

[0112] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0113] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0114] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0115] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0116] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0117] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in this field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A hydraulic support master-slave scheduling and machine control method, comprising: Obtaining a coal mining process, and entering the coal mining process into a host computer; According to the coal mining process, obtaining the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine; Generate a master-slave control instruction for the hydraulic support according to the master-slave control logic, and send the master-slave control instruction to the hydraulic support electro-hydraulic control system; According to the master-slave control instruction, the hydraulic support realizes master-slave scheduling and machine control; Wherein, the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine is obtained according to the coal mining process, including: According to the coal mining process, the control process, action process, propulsion control amount of the hydraulic support and the associated control process between the hydraulic support and the fully mechanized mining equipment are obtained; The master-slave control logic of the hydraulic support is obtained according to the control process, the action process, the propulsion control amount, and the associated control process.

2. The method according to claim 1, wherein: The step of obtaining the master-slave control logic of the hydraulic support according to the control process, the action process, the propulsion control amount, and the associated control process includes: Acquire a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process; The master-slave control logic of the hydraulic support is acquired according to the first master-slave control logic, the second master-slave control logic, the third master-slave control logic, and the fourth master-slave control logic.

3. The method according to claim 2, wherein: Acquiring a first master-slave control logic corresponding to the control process, a second master-slave control logic corresponding to the action process, a third master-slave control logic corresponding to the propulsion control amount, and a fourth master-slave control logic corresponding to the associated control process, including: Extracting the control processes corresponding to different areas of the fully mechanized mining face to obtain the first master-slave control logic of the hydraulic support; Extracting the action process of the hydraulic support corresponding to the position of the coal mining machine to obtain the second master-slave control logic of the hydraulic support; Extracting the forward step amount of the hydraulic support of the fully mechanized mining working face in a single advancement cycle to obtain the third master-slave control logic of the hydraulic support; Determine the strongly associated control process and the weakly associated control process with the comprehensive mining equipment to obtain the fourth master-slave control logic of the hydraulic support.

4. The method according to claim 1, wherein: The sending of the master-slave control instruction to the hydraulic support electro-hydraulic control system comprises: According to the communication protocol agreed upon between the host computer and the hydraulic support electro-hydraulic control system, the hydraulic support master-slave control instruction is sent to the hydraulic support electro-hydraulic control system.

5. The method according to claim 4, wherein: According to the control instruction, the master-slave scheduling and following machine control are realized, including: According to the communication protocol, the control instruction is parsed, and the master-slave scheduling and following control of the hydraulic support is implemented according to the parsed content.

6. The method according to any one of claims 3 to 5, wherein: The method further comprises: In response to changes in conditions of the fully mechanized mining face, adjusting the coal mining process; According to the adjusted coal mining process, the master-slave control logic of the hydraulic support is updated.

7. A hydraulic support master-slave dispatching and following machine control device, comprising: A first acquisition module is used to acquire a coal mining process and input the coal mining process into a host computer; A second acquisition module is used to acquire the master-slave control logic of the hydraulic support corresponding to the operating position of the coal mining machine according to the coal mining process; A sending module, used for generating a master-slave control instruction of the hydraulic support according to the master-slave control logic, and sending the master-slave control instruction to the hydraulic support electro-hydraulic control system; A control module, used for implementing master-slave scheduling and machine control on the hydraulic support according to the control instruction; The second acquisition module is further used to acquire the hydraulic support control process, action process, propulsion control amount and the associated control process between the hydraulic support and the fully mechanized mining equipment according to the coal mining process; The master-slave control logic of the hydraulic support is obtained according to the control process, the action process, the propulsion control amount, and the associated control process.

8. An electronic device, characterized in that: Including memory and processor; The processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement the method according to any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-6.

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