Collaborative scheduling control method of fully mechanized mining face production system driven by digital twin

Abstract

The present invention relates to a digital twin-driven coordinated scheduling and control method for a fully mechanized mining face production system, including optimal control logic and control timing planning under tight coupling of fully mechanized mining equipment, multi-objective and multi-task coordinated control instruction conversion and simplification of intelligent fully mechanized mining face production elements, and coordinated interactive control execution of a digital twin system and a fully mechanized mining equipment control system, which are completed in a fully mechanized mining equipment digital twin intelligent monitoring prototype system. Based on the next cutting cycle control target, guided by the cutting trajectory of the lower drum of the coal mining machine, the control logic and control timing of the three machines of the fully mechanized mining face are planned; the planned control logic and control timing are converted into control instructions of the bottom controller of the fully mechanized mining face production system; finally, the coordinated scheduling and control of the fully mechanized mining face production system is completed through an efficient and reliable transmission channel for control instructions, and the control logic and control instructions are rollingly optimized during the advancement of the working face to achieve the purpose of precise and efficient control.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent coal mining, and in particular to a collaborative scheduling control method for a fully mechanized mining face production system driven by a digital twin. Background Art

[0002] Intelligent coal mining has become the core technical support for the high-quality development of the coal industry. The core of intelligent coal mining is intelligent coal mining, and the basic unit is the fully mechanized coal mining face. The main method of coal mining in my country is comprehensive mechanized coal mining, so the level of intelligent development of fully mechanized coal mining faces determines the degree of intelligent coal mining. The ultimate goal of intelligent construction of fully mechanized coal mining faces is to form a fully mechanized coal mining face production system with comprehensive perception, real-time interconnection, analytical decision-making, autonomous learning, dynamic prediction, and collaborative control.

[0003] Digital twin is a technology that integrates multiple disciplines, multiple scales, and multiple physical quantities. It can establish a two-way interactive, closed-loop iterative mapping with physical entities in virtual space. In the research on digital twins in the field of fully mechanized mining, good progress has been made in the virtual planning simulation of fully mechanized mining technology and the virtual monitoring of the operating status of fully mechanized mining equipment. In essence, digital twins can not only reflect the operating status of physical entities in real time based on digital twin models and predict the future development of physical entities, but also realize timely intelligent decision-making and optimization on this basis, and realize intelligent control of physical entities based on real-time interactive mechanisms. However, there is a complex collaborative constraint relationship between the three machines of the fully mechanized mining face, namely hydraulic supports, coal mining machines, and scraper conveyors. The three machines of the fully mechanized mining face are coupled with complex coal seams during the advancement process. Therefore, the collaborative scheduling and control of the fully mechanized mining face production system based on digital twins faces great challenges.

[0004] In the prior art, the invention patent with publication number CN114690632A discloses a hydraulic support posture control method based on a digital twin model, establishes a digital twin model according to the sensor data in the actual operation process of the physical entity model, and optimizes the parameters of the hydraulic support posture servo control by calculating and updating the parameters of the digital twin model, thereby improving the motion performance of the physical entity and improving the real-time and accuracy of the hydraulic support posture control. The invention with publication number CN113722979A discloses a virtual-real interaction system of a coal mining machine based on a digital twin and its construction method, realizes the advanced simulation and cutting trajectory optimization of the coal mining machine cutting action based on the twin model and iterative algorithm, uses the real-time status data collected during the working process of the coal mining machine and the real-time prediction simulation results of the twin model, and performs real-time dynamic feedback control on the coal mining machine, which can realize efficient and autonomous cutting of the coal mining machine. The invention patent with publication number CN114004103A discloses a "collaborative operation test platform" that can support basic research on digital twin fully mechanized mining faces, including a multifunctional digital test platform, a visual virtual test simulation system, and a digital twin data and test platform intelligent service system. The mining process of the fully mechanized mining face is reproduced, mining is previewed, and fault warnings are warned. The real-time interaction between the virtual prototype test platform and the physical prototype test platform is realized, and common engineering problems underground can be studied. The invention patent with publication number CN113746936A discloses a VR and AR distributed collaborative fully mechanized mining face intelligent monitoring system. The core technologies of digital twins, VR and AR, are used to realize remote control of the fully mechanized mining face. The VR monitoring subsystem on the fully mechanized mining face and the AR monitoring subsystem underground on the fully mechanized mining face both have the authority to reversely control the physical subsystem of the fully mechanized mining face. The conflict resolution logic that the local operation of the underground operator takes precedence over the operation of the control center console is set, and redundant design is performed for erroneous operations.

[0005] The above schemes all involve the use of digital twin technology for comprehensive mining face control, but there are still certain limitations, mainly in the following aspects: 1) The current research on comprehensive mining face control based on digital twin technology focuses on the single-machine control of hydraulic supports and coal mining machines, without comprehensive consideration of the coordinated control between the three machines in the comprehensive mining face and the coordinated control of the three machines in the comprehensive mining face and the coupling of the three machines with complex coal seams; 2) A two-way data channel is established between the virtual comprehensive mining face and the physical comprehensive mining face, which can realize simple remote visual control and manual intervention, but the control strategy is not deeply studied based on the operating laws of the comprehensive mining face, and the intelligence and optimization of the control are insufficient; 3) A method for controlling the equipment of the comprehensive mining face is given from a macro perspective, but it does not involve how to implement the specific control process, and it is not clear how to convert the abstract control logic and control sequence into specific control instructions for the underlying controller of the comprehensive mining face production system to achieve control.

[0006] In the prior art, the invention patent with publication number CN114215520A discloses a method and device for coordinated control of equipment in a coal mine working face. In the process of coal mining in the coal mine working face, by analyzing the corresponding visual data on the scraper conveyor, the coal flow load state on the scraper conveyor can be automatically determined, and the coal mining machine and the scraper conveyor can be coordinated and controlled in combination with the coal flow load state. The invention patent with publication number CN113503160A discloses a method for energy consumption modeling and coordinated optimization control of key equipment in a fully mechanized mining working face. Based on the energy consumption model established for the coal mining machine and the scraper conveyor, the relationship between the energy consumption of the coal mining machine and the scraper conveyor in each process stage and the operating parameters of the coal mining machine is analyzed, and the energy consumption of the coal mining machine and the scraper conveyor is optimized to minimize the energy consumption of the coal mining machine and the scraper conveyor in the same coal mining task in the fully mechanized mining working face. The invention patent with authorization announcement number CN105573216B discloses a coordinated automatic control system and method for equipment in a fully mechanized mining face. The coal mining machine onboard module, the scraper conveyor onboard module and the crusher onboard module are connected to each other through the electrical signal of the wireless transceiver module, and the real-time parameters of each device are collected and transmitted to each other. Then, the controllers of each device are used to cyclically and automatically adjust the parameters of each device, so that the automatic control system reaches the optimal operating state. The invention patent with announcement number CN208367530U discloses a three-machine coordinated control system for a fully mechanized mining face in a coal mine, including a mine flameproof and intrinsically safe power supply, a main controller, a CS module, an I / O module, an SP module, a mine intrinsically safe loudspeaker telephone, an intelligent I / O lower computer and a terminal. The main controller is connected to the CS module, the I / O module and the SP module respectively; the I / O module is connected to the transfer machine, the crusher and the scraper conveyor respectively, which can effectively improve the efficiency of the coordinated operation and facilitate the coordinated operation of the three machines.

[0007] The above schemes all involve the coordinated scheduling and control of the fully mechanized mining face, but they still have certain limitations, mainly in the following aspects: 1) They lack the intuitive three-dimensional visual tools and iterative optimization capabilities provided by digital twins, and need to indirectly regulate and optimize the operation of the fully mechanized mining face production system through single parameters such as the coal flow load of the scraper conveyor and the energy consumption of the coal mining machine and the scraper conveyor, making it difficult to achieve accurate and efficient control; 2) At present, in the research on the coordinated control of fully mechanized mining faces, the focus is mainly on the coordinated control of the coal mining machine and the scraper conveyor, and the coordinated control has not been extended to the level of three-machine coordination in the fully mechanized mining face through the connection relationship between the scraper conveyor and the hydraulic support; 3) A three-machine control system for the fully mechanized mining face at the hardware level has been constructed, but the coordination and coupling relationship between the scraper conveyor, the coal mining machine and the hydraulic support has not been studied in depth, and the control strategy and control logic have not been planned. Summary of the invention

[0008] The technical problem to be solved by the present invention is to provide a collaborative scheduling and control method for a comprehensive mining face production system driven by a digital twin, to plan the collaborative scheduling and control strategy of the comprehensive mining face production system, and to convert it into executable underlying controller control instructions, thereby laying the foundation for the virtual-real bidirectional mapping, closed-loop collaboration and iterative optimization of the digital twin system of the comprehensive mining face.

[0009] In order to solve the above technical problems, the technical solution adopted by the present invention is: a collaborative scheduling control method for a fully mechanized mining face production system driven by a digital twin, comprising:

[0010] Step 1: optimal control logic and control timing planning under tight coupling of comprehensive mining equipment; including:

[0011] Step 1: Analysis of the coupling law between the three machines and the coal seam in the fully mechanized mining face;

[0012] The coupling laws between the scraper conveyor and the coal mining machine, the coupling laws between the scraper conveyor and the hydraulic support, the coupling laws between the three machines in the fully mechanized mining face, and the coupling laws between the three machines in the fully mechanized mining face and the coal seam posture are analyzed, and the corresponding mathematical models are established.

[0013] Step 2: Control logic and control timing planning under the tightly coupled state of comprehensive mining equipment;

[0014] Based on the control target of the next cutting cycle and guided by the cutting trajectory of the lower drum of the shearer, the control logic and control sequence of the three machines in the fully mechanized mining face are planned;

[0015] Step 2: Multi-objective and multi-task collaborative control command conversion and simplification of production factors of intelligent fully mechanized mining working face; including:

[0016] Step 3, the optimal control logic and control timing are converted into control instructions of the underlying controller;

[0017] Convert the planned control logic and control sequence into control instructions for the bottom controller of the fully mechanized mining face production system;

[0018] Step 4: Simplify and optimize control instructions;

[0019] The control instructions are simplified and optimized by reducing the number of control instructions, simplifying the control instruction format, using single-cycle instructions, using register operations, building controllers with hard-wired control logic, and optimizing compilers;

[0020] Step 3: The digital twin system and the comprehensive mining equipment control system cooperate and interact with each other to execute control; including:

[0021] Step 5: Establish an efficient and reliable transmission channel for control instructions;

[0022] A two-way data channel is built between the digital twin intelligent monitoring prototype system of fully mechanized mining equipment and the shearer control system and hydraulic support programmable electro-hydraulic controller through S7.net scripts in a low-latency, high-speed wireless communication network.

[0023] Step 6: Data-driven and state synchronization feedback between the digital twin system and the comprehensive mining equipment control system.

[0024] The control instructions are issued to the comprehensive mining equipment control system and executed, realizing the coupled collaborative control of the comprehensive mining equipment and the coal seam, and the control logic and control instructions are rolled out based on the feedback of the execution results in the digital twin intelligent monitoring prototype system of the comprehensive mining equipment.

[0025] Furthermore, the step 1 comprises:

[0026] Step 101: Analyze the coupling law of the scraper conveyor, the coal mining machine, the hydraulic support and the coal seam posture based on the arrangement form of the scraper conveyor;

[0027] Step 102: Analyze the coupling law between the arrangement of the scraper conveyor and the operating posture and speed of the coal mining machine, and establish a corresponding mathematical model;

[0028] Step 103: Analyze the coupling law between the arrangement form of the scraper conveyor and the hydraulic support pushing behavior, action frequency, etc., and establish a corresponding mathematical model;

[0029] Step 104: Analyze the coupling law between the coal mining machine's operating posture, operating speed, and the hydraulic support's pushing behavior and action frequency, and then analyze the coordination relationship between the scraper conveyor, the coal mining machine, and the hydraulic support, and establish a corresponding mathematical model.

[0030] Step 105: Embed the mathematical model into the bottom layer of the digital twin intelligent monitoring prototype system of comprehensive mining equipment.

[0031] Furthermore, in step 105, the digital twin intelligent monitoring prototype system of the comprehensive mining equipment is developed through Unity3d and has the function of making optimal posture decisions for the comprehensive mining equipment.

[0032] Furthermore, the step 2 comprises:

[0033] Step 201: Taking the arrangement form of the scraper conveyor in the posture control target of the next cutting cycle fully mechanized mining equipment as the target, obtaining the posture offset of the arrangement form of the scraper conveyor between the current cycle and the next cycle;

[0034] Step 202: planning the autonomous traction control strategy of the shearer and the autonomous cutting control strategy of the lower drum of the shearer based on the arrangement form of the scraper conveyor in the next cutting cycle fully mechanized mining equipment posture control target;

[0035] Step 203: Based on the movement law of the floating connection mechanism between the scraper conveyor and the hydraulic support base, the displacement of the displacement mechanism required to compensate for the arrangement of the scraper conveyor in the current cycle and the next cycle is obtained;

[0036] Step 204: Taking the hydraulic support group posture of this cycle as a reference and the hydraulic support posture in the posture control target of the next cutting cycle fully mechanized mining equipment as a target, a timing planning strategy for the coordinated adaptive following action of the hydraulic support group is planned;

[0037] Step 205: Based on the posture and support space of the hydraulic support group in the next cutting cycle, and based on the coupling law of the coal mining machine posture, running speed, hydraulic support movement behavior, and action frequency, the autonomous cutting control strategy of the upper drum of the coal mining machine is planned.

[0038] Furthermore, the step 3 comprises:

[0039] Step 301: converting the autonomous traction control strategy of the coal mining machine into a control instruction for the frequency change of the frequency converter in the traction speed regulation system, so that the coal mining machine has the ability to realize the control of related actions such as left and right forward movement and automatic speed regulation;

[0040] Step 302: converting the autonomous cutting control strategy of the upper and lower drums of the coal mining machine into control instructions for opening and closing the electromagnetic valve in the rocker arm lifting hydraulic system, so that it has the ability to realize automatic adjustment of the rocker arm position and height, etc.;

[0041] Step 303: Convert the combined action sequence of retracting / opening the side guard of a single hydraulic support, raising / lowering the column, pushing / sliding the frame, and the timing planning strategy of the coordinated adaptive following action sequence of the hydraulic support group into control instructions for the control valve system in the programmable electro-hydraulic controller of the hydraulic support, so that it has the ability to complete the automatic following of the frame.

[0042] Furthermore, the step 4 comprises:

[0043] Step 401: Streamlining the number of control instructions; on the premise of achieving the control target, giving priority to some simple control instructions with the highest frequency of use and some common control instructions, and avoiding the use of complex control instructions;

[0044] Step 402: simplifying the control instruction format;

[0045] Step 403: Use single-cycle instructions, simplify the instruction system, and use pipeline technology so that most instructions can be completed within one machine cycle;

[0046] Step 404: adopting register operation, using two independent registers to improve performance, namely, an instruction register and a data register, so that instruction fetching and data fetching can be performed simultaneously without interfering with each other;

[0047] Step 405: constructing a controller with hard-wired control logic to increase the execution speed of the operation;

[0048] Step 406: Optimize the compiler program, use the optimization compilation technology, discover possible blocking situations during compilation, and let the compiler reorder instructions.

[0049] Furthermore, the step 5 comprises:

[0050] Step 501: Establish a multi-node integrated low-latency, high-speed wireless communication network;

[0051] Step 502: Add an S7.net script to the digital twin intelligent monitoring prototype system of fully mechanized mining equipment to define the IP addresses of the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller and the DB data block address of each monitoring variable;

[0052] Step 503: Based on the S7.net script, by calling the plc.Read() and plc.Write() functions, the digital twin intelligent monitoring prototype system for fully-mechanized mining equipment realizes real-time reading and writing of DB block data in the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller, and builds a two-way data channel between the digital twin intelligent monitoring prototype system for fully-mechanized mining equipment and the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller;

[0053] Furthermore, in step 501, the nodes in the multi-node integrated low-latency, high-speed wireless communication network are composed of three levels: a working surface layer, a ground layer, and a cloud layer.

[0054] Furthermore, the step 6 comprises:

[0055] Step 601: The virtual control command is transmitted to the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller in real time through the data channel, and the corresponding register data in the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller are changed, thereby realizing the real-time control of the operation status of the physical equipment by the virtual command, and realizing the "virtual control of the real" coupled coordinated control of the fully mechanized mining equipment and the coal seam;

[0056] Step 602: The posture evolution information of the fully mechanized mining equipment during the execution of the control command and the workspace status information of the fully mechanized mining three machines after the execution of the control command are connected to the fully mechanized mining equipment digital twin intelligent monitoring prototype system to dynamically update the coupling information of the coal seam and the equipment;

[0057] Step 603: Feedback the execution result of the control instruction to the digital twin intelligent monitoring prototype system of the comprehensive mining equipment to perform rolling optimization on the control logic and control instructions.

[0058] Furthermore, in step 603, the rolling optimization of the control logic and control instructions refers to comparing and error analyzing the real-time posture of the comprehensive mining equipment after the execution of the control instructions with the optimal control target determined by the digital twin intelligent monitoring prototype system of the comprehensive mining equipment, and then optimizing the control instructions and control programs in the control instruction link of the underlying controller by converting the optimal control logic and control timing, so as to continuously improve the control accuracy during the advancement of the comprehensive mining working face.

[0059] Compared with the prior art, the collaborative scheduling control method of the digital twin-driven fully mechanized mining face production system provided by the present invention analyzes the coupling law of the scraper conveyor, coal mining machine, hydraulic support and coal seam posture, and plans the collaborative scheduling control strategy of the fully mechanized mining face production system according to the control target determined by the digital twin model of the fully mechanized mining face, and converts it into executable underlying controller control instructions, laying the foundation for the virtual-real bidirectional mapping, closed-loop collaboration and iterative optimization of the digital twin system of the fully mechanized mining face. It has the following beneficial effects:

[0060] (1) Based on the analysis of the posture coupling law among the scraper conveyor, coal mining machine and hydraulic support and the establishment of the corresponding mathematical model, the control logic and control sequence of the autonomous cutting of the lower drum of the coal mining machine, the adaptive movement of the hydraulic support and the autonomous cutting of the upper drum of the coal mining machine were planned and formulated, and a complete and specific collaborative control strategy for the fully mechanized mining face production system was established;

[0061] (2) The control logic and control timing are converted into the control instructions of the underlying controller, and the control instructions are simplified by reducing the number of instructions, simplifying the instruction format, using single-cycle instructions, using register operations, using hard-wired control logic to build the controller, and optimizing the compiler. This can effectively improve the execution speed of instructions, reduce the execution delay of control behavior, and achieve efficient control of the three machines in the fully mechanized mining face;

[0062] (3) A multi-node integrated low-latency, high-speed wireless communication network of "working face-ground-cloud" was established. On this basis, an efficient and reliable data transmission channel was constructed between the digital twin intelligent monitoring prototype system and the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller. Through PLC, the dynamic update of the "real-reflecting-virtual" coal seam and equipment coupling information and the "virtual-controlling-real" reverse control of the fully mechanized mining working face were realized;

[0063] (4) The position evolution information of the fully mechanized mining equipment during the execution of the control command and the workspace status information of the three fully mechanized mining machines after the execution can be fed back to the digital twin intelligent monitoring prototype system of the fully mechanized mining equipment for comparison with the control target, and the error can be analyzed and the control command and control program can be optimized in a rolling manner, thus forming a self-iterative optimization feedback control with autonomous perception of the dynamic geological environment, self-optimization configuration of complex process parameters, and adaptive adjustment of the control strategy of the fully mechanized mining equipment;

[0064] (5) The present invention can be used for the coordinated scheduling and control of the production system of the fully mechanized mining face, which improves the application depth of the digital twin technology in the fully mechanized mining face, establishes a virtual-reality mapping closed-loop collaborative monitoring system for fully mechanized mining equipment that integrates virtual reconstruction and reverse control, provides basic guidance for the transparent and intelligent mining of the fully mechanized mining face, and provides reference for similar complex multi-objective coupling collaborative control problems in other application fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] The drawings herein are used to provide further explanation of the present invention and constitute a part of this application. The illustrative embodiments of the present invention and their description are used to explain the present invention and do not constitute improper limitations on the present invention.

[0066] Figure 1 It is a flow chart of a collaborative scheduling control method for a comprehensive mining face production system driven by a digital twin provided by the present invention.

[0067] Figure 2 It is a flow chart of the optimal control logic and control timing planning stage under the tight coupling of comprehensive mining equipment.

[0068] Figure 3 Diagram of coupling law between the position of fully mechanized mining equipment and coal seam.

[0069] Figure 4 It is a flow chart of the multi-objective and multi-task collaborative control instruction conversion and simplification phase of production factors in the intelligent fully mechanized mining face.

[0070] Figure 5 It is a flow chart of the collaborative interactive control execution phase between the digital twin system and the comprehensive mining equipment control system.

[0071] Figure 6 It is a schematic diagram of a multi-node integrated low-latency, high-speed wireless communication network. DETAILED DESCRIPTION

[0072] like Figure 1As shown, a typical embodiment of the present invention provides a collaborative scheduling and control method for a comprehensive mining face production system driven by a digital twin, including optimal control logic and control timing planning under tight coupling of comprehensive mining equipment, multi-objective and multi-task collaborative control instruction conversion and simplification of intelligent comprehensive mining face production factors, and collaborative interactive control execution of the digital twin system and the comprehensive mining equipment control system.

[0073] like Figure 2 As shown in the figure, in the stage of optimal control logic and control timing planning under the tight coupling of comprehensive mining equipment, it includes two links: analysis of the coupling law between the three machines (scraper conveyor, coal mining machine and hydraulic support) of the comprehensive mining face and the coal seam, and control logic and timing planning under the tight coupling state of comprehensive mining equipment.

[0074] In the analysis of the coupling law between the three machines in the fully mechanized mining face and the coal seam, although the scraper conveyor does not have the ability to operate autonomously, it is laid on the bottom plate of the coal seam and is connected to the coal mining machine and the hydraulic support, which reflects the cutting state of the drum of the coal mining machine and the pushing state of the hydraulic support, and determines the posture of the coal mining machine. Therefore, the coupling law of the scraper conveyor, coal mining machine, hydraulic support and coal seam posture is analyzed based on the arrangement form of the scraper conveyor.

[0075] 1. In the above-mentioned analysis of the coupling law between the three machines and the coal seam in the fully mechanized mining face, the following steps are included:

[0076] Step 101: Based on the arrangement of the scraper conveyor, the coupling law of the scraper conveyor, the coal mining machine, the hydraulic support and the coal seam is analyzed. The coupling law is as follows: Figure 3 As shown;

[0077] Step 102: Analyze the coupling law between the arrangement of the scraper conveyor and the operating posture and speed of the coal mining machine, and establish a corresponding mathematical model;

[0078] Step 103: Analyze the coupling law between the arrangement form of the scraper conveyor and the hydraulic support pushing behavior, action frequency, etc., and establish a corresponding mathematical model;

[0079] Step 104: Analyze the coupling law between the coal mining machine's posture, running speed, and the hydraulic support's pushing behavior and action frequency, and then analyze the coordination relationship among the scraper conveyor, the coal mining machine, and the hydraulic support, and establish a corresponding mathematical model.

[0080] Step 105: Embed the mathematical model into the bottom layer of the digital twin intelligent monitoring prototype system of comprehensive mining equipment.

[0081] Among them, in step 105, the digital twin intelligent monitoring prototype system of the comprehensive mining equipment is developed through Unity3d, and the collaborative scheduling control of the comprehensive mining working face production system involved in the present invention is completed based on this system.

[0082] Among them, in step 105, the digital twin intelligent monitoring prototype system of the comprehensive mining equipment has the function of making decisions on the optimal posture of the comprehensive mining equipment. It can complete the decision on the control target before carrying out the coordinated scheduling and control of the comprehensive mining working face production system involved in the present invention, and provide a basis for subsequent control.

[0083] 2. In the control logic and timing planning link under the tight coupling state of the comprehensive mining equipment, the steps include:

[0084] Step 201: Taking the arrangement form of the scraper conveyor in the posture control target of the next cutting cycle fully mechanized mining equipment as the target, obtaining the posture offset of the arrangement form of the scraper conveyor between the current cycle and the next cycle;

[0085] Step 202: planning the autonomous traction control strategy of the shearer and the autonomous cutting control strategy of the lower drum of the shearer based on the arrangement form of the scraper conveyor in the next cutting cycle fully mechanized mining equipment posture control target;

[0086] Step 203: Based on the movement law of the floating connection mechanism between the scraper conveyor and the hydraulic support base, the displacement of the displacement mechanism required to compensate for the arrangement of the scraper conveyor in the current cycle and the next cycle is obtained;

[0087] Step 204: Taking the hydraulic support group posture of this cycle as a reference and the hydraulic support posture in the posture control target of the next cutting cycle fully mechanized mining equipment as a target, a timing planning strategy for the coordinated adaptive following action of the hydraulic support group is planned;

[0088] Step 205: Taking the position and support space of the hydraulic support group in the next cutting cycle as a reference, and based on the coupling law of the position and speed of the coal mining machine and the hydraulic support movement behavior and action frequency, the autonomous cutting control strategy of the upper drum of the coal mining machine is planned;

[0089] Among them, the posture control target of the next cutting cycle comprehensive mining equipment in step 201, step 202, and step 204 is the optimal posture of each comprehensive mining equipment in the next cutting cycle determined by the digital twin intelligent monitoring prototype system of comprehensive mining equipment.

[0090] like Figure 4 As shown, in the multi-objective and multi-task collaborative control instruction conversion and simplification stage of the production factors of the intelligent fully mechanized mining working face, it includes two links: the optimal control logic and control timing are converted into the control instructions of the underlying controller and the control instructions are simplified.

[0091] 3. In the process of converting the optimal control logic and control sequence into the control instructions of the underlying controller, the following steps are included:

[0092] Step 301: converting the autonomous traction control strategy of the coal mining machine into a control instruction for the frequency change of the frequency converter in the traction speed regulation system, so that the coal mining machine has the ability to realize the control of related actions such as left and right forward movement and automatic speed regulation;

[0093] Step 302: converting the autonomous cutting control strategy of the upper and lower drums of the coal mining machine into control instructions for opening and closing the electromagnetic valve in the rocker arm lifting hydraulic system, so that it has the ability to realize automatic adjustment of the rocker arm position and height, etc.;

[0094] Step 303: convert the combined action sequence of retracting / opening the side guard plate of a single hydraulic support, raising / lowering the column, pushing / sliding the frame, etc. and the timing planning strategy of the coordinated adaptive following action sequence of the hydraulic support group into control instructions for the control valve system in the programmable electro-hydraulic controller of the hydraulic support, so that it has the ability to complete the automatic following of the frame;

[0095] 4. In the simplified control instruction link, the following steps are included:

[0096] Step 401: Streamlining the number of instructions, giving priority to selecting some simple instructions and some common instructions with the highest frequency of use under the premise of achieving the control target, and avoiding the use of complex instructions;

[0097] Step 402: simplify the instruction format, make the instruction length as fixed as possible, and make the division of each field between instructions as consistent as possible, so as to make decoding relatively easy;

[0098] Step 403: Use single-cycle instructions, simplify the instruction system, and use pipeline technology so that most instructions can be completed within one machine cycle;

[0099] Step 404: adopting register operation, using two independent registers to improve performance, namely, an instruction register and a data register, so that instruction fetching and data fetching can be performed simultaneously without interfering with each other;

[0100] Step 405: constructing a controller using hard-wired control logic (combined control logic) to increase the execution speed of the operation;

[0101] Step 406: Optimize the compiler program and use optimized compilation technology to discover possible blocking situations during compilation, and let the compiler reorder instructions.

[0102] like Figure 5 As shown in the figure, in the collaborative interactive control execution stage of the digital twin system and the comprehensive mining equipment control system, there are two links: the construction of an efficient and reliable transmission channel for control instructions, and the data drive and state synchronization feedback between the digital twin system and the comprehensive mining equipment control system.

[0103] 5. In the link of constructing the efficient and reliable transmission channel for control instructions, the following steps are included:

[0104] Step 501: Establish a multi-node integrated low-latency, high-speed wireless communication network, such as Figure 6 As shown;

[0105] Step 502: Add an S7.net script to the digital twin intelligent monitoring prototype system of fully mechanized mining equipment to define parameters such as the IP address of the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller and the DB data block address of each monitoring variable;

[0106] Step 503: Based on the S7.net script, by calling the plc.Read() and plc.Write() functions, the digital twin intelligent monitoring prototype system for fully-mechanized mining equipment realizes real-time reading and writing of DB block data in the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller, and builds a two-way data channel between the digital twin intelligent monitoring prototype system for fully-mechanized mining equipment and the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller;

[0107] Preferably, after the efficient and reliable transmission channel for control instructions is constructed, it can be tested to test whether the optimal control logic and control timing can be converted into the control instructions of the underlying controller, mainly by using optimized compilation technology to compile the control instruction code; test whether the control program is blocked. If an error occurs in the compilation, the compiler should be used to re-arrange the instructions; test whether the interaction channel between the digital twin intelligent monitoring prototype system of the comprehensive mining equipment and the comprehensive mining equipment control system is smooth, and test whether the control instructions can be issued to the PLC through the efficient and reliable transmission channel by observing whether the register data in the controller changes.

[0108] The nodes in the multi-node fused low-latency, high-speed wireless communication network described in step 501 are composed of three layers: the working surface layer, the ground layer, and the cloud layer;

[0109] Furthermore, the working face layer includes a coal mining machine controller, a hydraulic support programmable electro-hydraulic controller and a fully mechanized mining working face dynamic sensing system in the working face;

[0110] Furthermore, the dynamic perception system of the fully mechanized mining working face includes the fully mechanized mining equipment's own intelligent sensing system and a fully mechanized mining working face inspection robot;

[0111] Among them, the intelligent sensing system of the fully mechanized mining equipment itself mainly includes the inclination sensor and displacement sensor on the hydraulic support and the rocker arm inclination sensor, shaft encoder and strapdown inertial navigation system on the coal mining machine, which can perform contact measurement on the position and posture of the fully mechanized mining equipment;

[0112] Among them, the fully-mechanized mining face inspection robot is equipped with sensors such as laser radar, millimeter-wave radar and camera, which can realize high-precision perception of coal seam geological information and spatial posture information of fully-mechanized mining equipment, and use artificial intelligence methods such as computer vision and pattern recognition to conduct dynamic and real-time inspections of the fully-mechanized mining face production equipment and environment, such as fully-mechanized mining face straightness and horizontality detection, fully-mechanized mining face point cloud scanning, and coal mining machine operation status inspection.

[0113] Furthermore, the ground layer is the ground control center of the fully mechanized mining face, in which the fully mechanized mining equipment digital twin intelligent monitoring prototype system is integrated;

[0114] Furthermore, the cloud layer is the cloud data center of the comprehensive mining working face, which is responsible for the remote rendering and data processing of the digital twin intelligent monitoring prototype system of the comprehensive mining equipment.

[0115] The S7.net script in step 503 is an open source S7 protocol communication library, which is written in C# language and can be used to implement S7 communication between Unity3d and PLC.

[0116] 6. In the data drive and state synchronization feedback link between the digital twin system and the comprehensive mining equipment control system, the following steps are included:

[0117] Step 601: The virtual control command is transmitted to the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller in real time through the data channel, and the corresponding register data in the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller are changed, thereby realizing the real-time control of the operation status of the physical equipment by the virtual command, and realizing the "virtual control of the real" coupled coordinated control of the fully mechanized mining equipment and the coal seam;

[0118] Step 602: The posture evolution information of the fully mechanized mining equipment during the execution of the control command and the workspace status information of the fully mechanized mining three machines after the execution of the control command are connected to the fully mechanized mining equipment digital twin intelligent monitoring prototype system to dynamically update the coupling information of the coal seam and the equipment;

[0119] Step 603: Feedback the execution result of the control instruction to the digital twin intelligent monitoring prototype system of the comprehensive mining equipment to perform rolling optimization on the control logic and control instructions.

[0120] The position evolution information of the comprehensive mining equipment during the execution of the control instruction described in step 602 and the workspace status information of the comprehensive mining three machines after the execution of the control instruction are obtained by the dynamic perception system of the comprehensive mining working face.

[0121] The rolling optimization of the control logic and control instructions described in step 603 specifically refers to comparing and analyzing the error between the real-time posture of the comprehensive mining equipment after the execution of the control instructions and the optimal control target determined by the digital twin intelligent monitoring prototype system of the comprehensive mining equipment, and then optimizing the control instructions and control programs in the control instruction link of the underlying controller by converting the optimal control logic and control timing, so as to continuously improve the control accuracy during the advancement of the comprehensive mining working face.

[0122] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the enlightenment of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the purpose of the present invention and the claims, which all fall within the protection of the present invention.

Claims

1. A digital twin driven fully mechanized mining face production system collaborative scheduling control method, characterized in that: include: Step 1: optimal control logic and control timing planning under tight coupling of comprehensive mining equipment; include: Step 1: Analysis of the coupling law between the three machines and the coal seam in the fully mechanized mining face; The coupling laws between the scraper conveyor and the coal mining machine, the coupling laws between the scraper conveyor and the hydraulic support, the coupling laws between the three machines in the fully mechanized mining face, and the coupling laws between the three machines in the fully mechanized mining face and the coal seam posture are analyzed, and the corresponding mathematical models are established, including: Step 101: Analyze the coupling law of the scraper conveyor, the coal mining machine, the hydraulic support and the coal seam posture based on the arrangement form of the scraper conveyor; Step 102: Analyze the coupling law between the arrangement of the scraper conveyor and the operating posture and speed of the coal mining machine, and establish a corresponding mathematical model; Step 103: Analyze the coupling law between the arrangement form of the scraper conveyor and the displacement behavior and action frequency of the hydraulic support, and establish a corresponding mathematical model; Step 104: Analyze the coupling law between the coal mining machine's running posture, running speed, and the hydraulic support's moving behavior and action frequency, and then analyze the coordination relationship between the scraper conveyor, the coal mining machine, and the hydraulic support, and establish a corresponding mathematical model; Step 105: embed the mathematical model into the bottom layer of the digital twin intelligent monitoring prototype system of the fully mechanized mining equipment; Step 2: Control logic and control timing planning under the tightly coupled state of comprehensive mining equipment; Based on the control target of the next cutting cycle and guided by the cutting trajectory of the lower drum of the shearer, the control logic and control sequence of the three machines in the fully mechanized mining face are planned; Step 2: Multi-objective and multi-task collaborative control command conversion and simplification of production factors of intelligent fully mechanized mining working face; including: Step 3, the optimal control logic and control timing are converted into control instructions of the underlying controller; Convert the planned control logic and control sequence into control instructions for the bottom controller of the fully mechanized mining face production system; Step 4: Simplify and optimize control instructions; Use reduced control instruction quantity, simplified control instruction format, single-cycle instructions, register operations, hard-wired control logic to build controllers, and optimized compilers to achieve the simplification and optimization of control instructions; Step 3: The digital twin system and the comprehensive mining equipment control system coordinate and interact with each other to execute control; including: Step 5: Establish an efficient and reliable transmission channel for control instructions; A two-way data channel is built between the digital twin intelligent monitoring prototype system of fully mechanized mining equipment and the shearer control system and hydraulic support programmable electro-hydraulic controller through S7.net scripts in a low-latency, high-speed wireless communication network. Step 6: Data drive and state synchronization feedback between the digital twin system and the comprehensive mining equipment control system; The control instructions are issued to the comprehensive mining equipment control system and executed, realizing the coupled collaborative control of the comprehensive mining equipment and the coal seam, and the control logic and control instructions are rolled out based on the feedback of the execution results in the digital twin intelligent monitoring prototype system of the comprehensive mining equipment.

2. The digital twin-driven coordinated scheduling control method for fully mechanized mining face production system according to claim 1 is characterized in that: In step 105, the digital twin intelligent monitoring prototype system of the comprehensive mining equipment is developed through Unity3d and has the function of making optimal posture decisions for the comprehensive mining equipment.

3. The collaborative scheduling control method of the fully mechanized mining face production system driven by digital twin according to claim 1 or 2, characterized in that: The step 2 comprises: Step 201: Taking the arrangement form of the scraper conveyor in the posture control target of the next cutting cycle fully mechanized mining equipment as the target, obtaining the posture offset of the arrangement form of the scraper conveyor between the current cycle and the next cycle; Step 202: planning the autonomous traction control strategy of the shearer and the autonomous cutting control strategy of the lower drum of the shearer based on the arrangement form of the scraper conveyor in the next cutting cycle fully mechanized mining equipment posture control target; Step 203: Based on the movement law of the floating connection mechanism between the scraper conveyor and the hydraulic support base, the displacement of the displacement mechanism required to compensate for the arrangement of the scraper conveyor in the current cycle and the next cycle is obtained; Step 204: Taking the hydraulic support group posture of this cycle as a reference and the hydraulic support posture in the posture control target of the next cutting cycle fully mechanized mining equipment as a target, a timing planning strategy for the coordinated adaptive following action of the hydraulic support group is planned; Step 205: Based on the posture and support space of the hydraulic support group in the next cutting cycle, and based on the coupling law of the coal mining machine posture, running speed, hydraulic support movement behavior, and action frequency, the autonomous cutting control strategy of the upper drum of the coal mining machine is planned.

4. The digital twin-driven coordinated scheduling control method for fully mechanized mining face production system according to claim 3 is characterized in that: The step 3 comprises: Step 301: converting the autonomous traction control strategy of the coal mining machine into a control instruction for the frequency change of the frequency converter in the traction speed regulation system, so that the coal mining machine has the ability to realize the left and right forward movement and automatic speed regulation related action control; Step 302: converting the autonomous cutting control strategy of the upper and lower drums of the coal mining machine into control instructions for opening and closing the electromagnetic valve in the rocker arm lifting hydraulic system, so that it has the ability to realize automatic adjustment of the rocker arm position and height; Step 303: Convert the combined action sequence of retracting / opening the side guard of a single hydraulic support, raising / lowering the uprights, and pushing / sliding / moving the frame, as well as the timing planning strategy of the coordinated adaptive following action sequence of the hydraulic support group into control instructions for the control valve system in the programmable electro-hydraulic controller of the hydraulic support, so that it has the ability to complete the automatic following of the frame.

5. The digital twin-driven coordinated scheduling control method for fully mechanized mining face production system according to claim 4 is characterized in that: The step 4 comprises: Step 401: Streamlining the number of control instructions; selecting some simple control instructions and some common control instructions with the highest frequency of use on the premise of achieving the control target, and avoiding the use of complex control instructions; Step 402: simplifying the control instruction format; Step 403: Use single-cycle instructions, simplify the instruction system, and use pipeline technology so that most instructions can be completed within one machine cycle; Step 404: adopting register operation, using two independent registers to improve performance, namely, an instruction register and a data register, so that instruction fetching and data fetching can be performed simultaneously without interfering with each other; Step 405: constructing a controller with hard-wired control logic to increase the execution speed of the operation; Step 406: Optimize the compiler program, use the optimization compilation technology, discover possible blocking situations during compilation, and let the compiler reorder instructions.

6. According to the digital twin driven fully mechanized mining face production system collaborative scheduling control method of claim 5, step 5 comprises: Step 501: Establish a multi-node integrated low-latency, high-speed wireless communication network; Step 502: Add an S7.net script to the digital twin intelligent monitoring prototype system of fully mechanized mining equipment to define the IP addresses of the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller and the DB data block address of each monitoring variable; Step 503: Based on the S7.net script, by calling the plc.Read() and plc.Write() functions, the digital twin intelligent monitoring prototype system of comprehensive mining equipment realizes real-time reading and writing of DB block data in the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller, and builds a two-way data channel between the digital twin intelligent monitoring prototype system of comprehensive mining equipment and the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller.

7. The digital twin-driven coordinated scheduling control method for fully mechanized mining face production system according to claim 6 is characterized in that: In step 501, the nodes in the multi-node integrated low-latency, high-speed wireless communication network are composed of three levels: working surface layer, ground layer, and cloud layer.

8. The collaborative scheduling control method of the fully mechanized mining face production system driven by digital twin according to claim 6 or 7, characterized in that: The step 6 comprises: Step 601: The virtual control command is transmitted to the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller in real time through the data channel, and the corresponding register data in the coal mining machine control system and the hydraulic support programmable electro-hydraulic controller are changed, thereby realizing the real-time control of the operation status of the physical equipment by the virtual command, and realizing the "virtual control of the real" coupled coordinated control of the fully mechanized mining equipment and the coal seam; Step 602: The posture evolution information of the fully mechanized mining equipment during the execution of the control command and the workspace status information of the fully mechanized mining three machines after the execution of the control command are connected to the fully mechanized mining equipment digital twin intelligent monitoring prototype system to dynamically update the coupling information of the coal seam and the equipment; Step 603: Feedback the execution result of the control instruction to the digital twin intelligent monitoring prototype system of the comprehensive mining equipment to perform rolling optimization on the control logic and control instructions.

9. The digital twin-driven coordinated dispatching control method for fully mechanized mining face production system according to claim 8 is characterized in that: In step 603, the rolling optimization of the control logic and control instructions refers to comparing and analyzing the error between the real-time posture of the comprehensive mining equipment after the execution of the control instructions and the optimal control target determined by the digital twin intelligent monitoring prototype system of the comprehensive mining equipment, and then optimizing the control instructions and control programs in the control instruction link of the underlying controller by converting the optimal control logic and control timing, so as to continuously improve the control accuracy during the advancement of the comprehensive mining working face.

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