Method for coordinating decision of multiple control tasks of hydraulic support cluster

Abstract

The present application relates to a kind of hydraulic support cluster's multi-control task coordination decision-making method, belong to coal mine intelligent technology field.It includes: the hydraulic support cluster is divided into multiple hydraulic support task subgroups;Determine the control task set corresponding to each hydraulic support task subgroup;Determine the desire value of each hydraulic support individual in target hydraulic support task subgroup to each control task in its corresponding control task set;Construct the multi-control task desire distribution matrix of target hydraulic support subgroup;Determine the priority of each control task in the control task set corresponding to target hydraulic support task subgroup, and the execution order of each control task is decided according to the priority of each control task.The present application gives the automatic coordination decision-making method of hydraulic support subgroup control task, provides decision-making space for the optimization of hydraulic support subgroup group collaborative control.This way not only saves time and effort, but also is very efficient, can improve the production efficiency of fully mechanized coal mining face.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent coal mine, and particularly relates to a multi-control task coordination decision method for hydraulic support cluster. BACKGROUND

[0002] The hydraulic support cluster, as a key equipment group of the fully mechanized coal mining face, is composed of hundreds of hydraulic supports, each of which has multiple behavior types such as column lowering, column lifting, support moving, pushing, bottom lifting, balancing and side protection. These actions need to be executed in an orderly, timely, accurate and coordinated manner to achieve the dynamic support goal of the fully mechanized coal mining face. The hydraulic support cluster belongs to a large-scale robot cluster in the underground mine, and has the characteristics of large group quantity, multiple individual motion types, complex control operation and strong relevance with human-machine factors. The coordinated decision of the pushing behavior is a typical multi-level and multi-objective optimal planning problem. In the production process of the fully mechanized coal mining face, the hydraulic support cluster should orderly and coordinately perform the pushing behavior under the special requirements of personnel safety (human), equipment cooperation (machine) and surrounding rock conditions (environment). At present, the research on the control principle of the hydraulic support cluster is basically based on the human-machine-environment constraint conditions to formulate static and single support control logic, which is difficult to adapt to the requirements of the variable fully mechanized coal mining face environment and equipment.

[0003] The entire hydraulic support cluster robot of the fully mechanized coal mining face has multiple control tasks, and each control task is completed by a plurality of hydraulic support subgroups divided by a plurality of hydraulic support subgroups. In order to avoid conflicts between different control tasks, each control task executed by each hydraulic support subgroup should be coordinated with each other and each control task should be completed in an orderly manner. At present, the coordinated decision of the control task of the hydraulic support subgroup is manually set by a person according to the working conditions of the fully mechanized coal mining face, and each control task cannot realize automatic coordinated decision. This coordinated decision method of the multiple control tasks of the hydraulic support subgroup not only needs to consume a large amount of manpower and time, but also has extremely low efficiency, which affects the efficient production of the fully mechanized coal mining face. SUMMARY

[0004] To solve the above technical problems, the present application provides a multi-control task coordination decision method for a hydraulic support cluster. The technical scheme of the present application is as follows:

[0005] A multi-control task coordination decision method for a hydraulic support cluster, comprising:

[0006] S1, obtaining a plurality of hydraulic support task subgroups divided by the hydraulic support cluster, each hydraulic support task subgroup comprising a plurality of hydraulic support individuals;

[0007] S2, determining a control task set corresponding to each hydraulic support task subgroup, the control task set comprising a plurality of control tasks;

[0008] S3, determine the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, wherein the target hydraulic support task subgroup is any one of multiple hydraulic support task subgroups.

[0009] S4. Based on the desire degree values ​​of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, construct the multi-control task desire degree distribution matrix of the target hydraulic support subgroup.

[0010] S5. Determine the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup based on the multi-control task desire distribution matrix, and decide the execution order of each control task based on the priority of each control task.

[0011] Optionally, when determining the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, step S3 determines the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set based on the position of the coal mining machine, the overall straightness requirement of the working face, the pressure of the support column, the posture of the hydraulic support, and the position of the personnel on the working face.

[0012] Optionally, in step S4, when constructing the multi-control task desire distribution matrix of the target hydraulic support subgroup based on the desire degree values ​​of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, k = max{m, n} is denoted as k = max{m, n}, where m is the target hydraulic support task subgroup P = {p1, p2, ..., p...}. m The number of individual hydraulic supports in the target hydraulic support task subgroup is denoted by n, where n is the control task set S={s1, s2,…, s}. n The number of control tasks in} can be categorized into the following cases:

[0013] 1) If m=n=k, let

[0014] , i =1, 2, …, n; j =1, 2, …, n;

[0015] 2) If m < n = k, introduce km virtual hydraulic supports, let

[0016]

[0017] 3) If n < m = k, introduce kn virtual control tasks, let

[0018]

[0019] wherein, ;

[0020] Through the above processing method, the multi-control task desire degree distribution matrix of the target hydraulic support subgroup is obtained , specifically as follows:

[0021] If m=n=k, we have:

[0022] ;

[0023] If m

[0024] ;

[0025] If n

[0026]

[0027] Optionally, the S5 determines the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup according to the multi-control task desire degree distribution matrix,

[0028] solving the equation group according to the multi-control task desire degree distribution matrix under the solution of and ;

[0029] Let the obtained solution be , and let the gth and hth control tasks in the control task set S={s 1, s2,…, s n} be s g and s h ,

[0030] If is satisfied, the priority of s g is greater than that of s h , denoted as s g →s h ;

[0031] If is satisfied, the priority of s g is equal to that of s h , denoted as s g =s h .

[0032] All the above optional technical solutions can be arbitrarily combined, and the application does not perform detailed description on the structures after one-by-one combination.

[0033] By the above scheme, the application scientifically gives an automatic coordination decision method of hydraulic support sub-group control task by constructing a multi-control task desire degree distribution matrix of the target hydraulic support sub-group according to the desire degree value of each control task in the control task set corresponding to each hydraulic support individual in the target hydraulic support task sub-group, determining the priority of each control task in the control task set corresponding to the target hydraulic support task sub-group according to the multi-control task desire degree distribution matrix, and deciding the execution order of each control task according to the priority of each control task, which provides a decision space for the optimal collaborative control of the hydraulic support sub-group. The coordination decision method of the multi-control task of the hydraulic support sub-group not only saves time and effort, but also is extremely efficient, which can improve the production efficiency of the fully mechanized coal mining face.

[0034] The above description is only a summary of the technical scheme of the application. In order to make the technical means of the application more clearly understood and implemented according to the content of the description, the preferred embodiments of the application are described in detail as follows with reference to the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0035] Figure 1 is a flowchart of the application. DETAILED DESCRIPTION

[0036] The specific embodiments of the application are described in further detail below in combination with the accompanying drawings and examples. The following examples are used to illustrate the application, but are not used to limit the scope of the application.

[0037] As Figure 1 shown, the multi-control task coordination decision method of the hydraulic support cluster provided by the embodiments of the application includes the following steps:

[0038] S1, obtaining a plurality of hydraulic support task sub-groups divided by a hydraulic support cluster, each hydraulic support task sub-group including a plurality of hydraulic support individuals.

[0039] Among them, each hydraulic support of the fully mechanized coal mining face hydraulic support cluster will be pre-divided into a plurality of hydraulic support task sub-groups by artificial or historical action rules according to the time of completing the control task, the type of completing the control task and other factors, so that when the plurality of hydraulic support task sub-groups divided by the hydraulic support cluster are obtained, the plurality of pre-divided hydraulic support task sub-groups can be obtained.

[0040] For example, assuming that the number of hydraulic supports of the fully mechanized coal mining face is 150, and 10 hydraulic supports are taken as one hydraulic support task sub-group, then the hydraulic support cluster is divided into 15 hydraulic support task sub-groups, and any one hydraulic support task sub-group P={p1, p2,…, p 10}.

[0041] S2, determine the control task set corresponding to each hydraulic support task subgroup, wherein the control task set includes multiple control tasks.

[0042] The control task set corresponding to any hydraulic support task subgroup is determined based on the control tasks that the hydraulic support task subgroup needs to execute.

[0043] For example, for a certain subgroup of hydraulic support tasks, the control tasks to be performed include moving the support with the machine, straightness adjustment, support pressure regulation, hydraulic support attitude adjustment, personnel avoidance, and no task. Then, the corresponding control task set S={s1,s2,…,s6}, where s1 is moving the support with the machine, s2 is straightness adjustment, s3 is support pressure regulation, s4 is hydraulic support attitude adjustment, s5 is personnel avoidance, and s6 is no task (this task is skipped directly).

[0044] S3, determine the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, wherein the target hydraulic support task subgroup is any one of multiple hydraulic support task subgroups.

[0045] Specifically, S3 determines the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set based on relevant information such as the position of the coal mining machine, the overall straightness requirements of the working face, the pressure of the support column, the posture of the hydraulic support, and the position of the personnel on the working face.

[0046] Referring to the above example, in the control task set S={s1, s2,…, s6}, when S3 represents the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, for any hydraulic support individual p in the hydraulic support task subgroup P... i :

[0047] Based on the position of the coal mining machine, i.e., the coal mining machine and the individual hydraulic support p i The distance is used to determine the individual hydraulic support p. i The level of eagerness for on-board rack transfer missions is: , a The value of 1 is in the range of (0, 25].

[0048] Based on the overall straightness requirements of the working face, determine the individual hydraulic support p i The desire for the straightness adjustment task is: , a The value range of 2 is (0, 10];

[0049] According to the individual hydraulic support p i The pressure value of the support column is used to determine the individual hydraulic support p.i The desire degree of the support pressure regulation task is , a 3The value interval is (0, 15].

[0050] According to whether the posture of the hydraulic support individual p i is normal, the desire degree of the hydraulic support posture adjustment task of the hydraulic support individual p is determined as a 4=0.001 when the posture of the hydraulic support individual p i is normal, and 4=10 when the posture of the hydraulic support individual p i is not normal. a

[0051] According to the position of the working face personnel, the desire degree of the personnel avoidance task of the hydraulic support individual p i is determined as , a 5The value interval is (0, 39].

[0052] According to the above determined desire degrees, the desire degree of the idle task of the hydraulic support individual p i is determined as .

[0053] Wherein, a 1- a The maximum value of the value interval is determined by the staff according to experience according to the data of the historical operation process of the coal mining machine of the fully mechanized coal mining face. The denominator of the desire degree value, that is, the above "100", is obtained by adding 1 to the maximum value of the value interval of the above 1-5 (assuming that the value interval of the idle task is (0, 1]). a a

[0054] Assuming that the desire degree value of the individual p i to the control task s j is d ij , then the desire degree vector of the individual p i to each control task is d i1 , d i2 , …, d in ) T , and satisfies , and .

[0055] For convenience of description, in the following, any hydraulic support task subgroup in a plurality of hydraulic support task subgroups is defined as a target hydraulic support task subgroup, and the method provided by the embodiment of the present application is further described.

[0056] ​​​S4, constructing a multi-control task desire degree distribution matrix of the target hydraulic support subgroup according to the desire degree values of each hydraulic support individual in the target hydraulic support task subgroup for each control task in the control task set corresponding to the hydraulic support individual.

[0057] wherein, when constructing the multi-control task desire degree distribution matrix of the target hydraulic support subgroup according to the desire degree values of each hydraulic support individual in the target hydraulic support task subgroup for each control task in the control task set corresponding to the hydraulic support individual, the S4 is k = max{m, n}, m is the number of hydraulic support individuals in the target hydraulic support task subgroup P = {p1, p2, …, pn}, n is the number of control tasks in the control task set S = {s1, s2, …, sn} corresponding to the target hydraulic support task subgroup, and the following cases are divided: m n

[0058] 1) if m = n = k, let

[0059] , i =1, 2, …, n ; j =1, 2, …, n;

[0060] 2) if m < n = k, introduce k-m hydraulic support virtual individuals, and let

[0061]

[0062] 3) if n < m = k, introduce k-n virtual control tasks, and let

[0063]

[0064] wherein, and the value is taken according to experience.

[0065] Through the above processing method, the multi-control task desire degree distribution matrix of the target hydraulic support subgroup is obtained , and the specific process is as follows:

[0066] if m = n = k, then:

[0067]

[0068] if m < n = k, then:

[0069]

[0070] if n < m = k, then:

[0071]

[0072] ​​S5, determining the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup according to the multi-control task desirability distribution matrix, and deciding the execution order of each control task according to the priority of each control task.

[0073] Specifically, when determining the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup according to the multi-control task desirability distribution matrix, the S5 solves the equation group according to the multi-control task desirability distribution matrix. Under the solution of and .

[0074] Suppose the obtained solution is , let the gth and hth control tasks in the control task set S={s 1, s2,…, s n} be s g and s h respectively, if , then the priority of s g is greater than that of s h , denoted as s g →s h ; if , then the priority of s g is equal to that of s h , denoted as s g =s h .

[0075] Further, the target hydraulic support task subgroup can execute each control task in turn according to the priority of each control task in the control task set S={s 1, s2,…, s n}. Specifically, if a control task is an empty task or a virtual task, the next control task is automatically executed without executing the control task; if the priorities of several control tasks are equal, a control task is randomly selected for execution, and then the next control task with higher priority is executed.

[0076] In view of the problem that the coordination decision of the hydraulic support subgroup control task is manually set by an artificial according to the control mode of the fully mechanized coal face working condition, the embodiment of the present application constructs a multi-control task desire degree distribution matrix of the target hydraulic support subgroup according to the desire degree value of each control task in the control task set corresponding to each hydraulic support individual in the target hydraulic support task subgroup, determines the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup according to the multi-control task desire degree distribution matrix, and decides the execution order of each control task according to the priority of each control task, so as to scientifically give an automatic coordination decision method of the hydraulic support subgroup control task, and provide a decision space for the optimal group collaborative control of the hydraulic support subgroup. The present application belongs to the research direction of the optimal operation trajectory planning and collaborative control method under the influence of the time-varying multi-factors in the coal mining, and aims to solve the optimal collaborative control problem of the complex mining system in the big data environment. The coordination decision mode of the hydraulic support subgroup multi-control task is not only time-saving and labor-saving, but also has high efficiency, and can improve the production efficiency of the fully mechanized coal face.

[0077] The above only describes the preferred embodiments of the present application, and is not used to limit the present application, and it should be pointed out that, for the ordinary skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present application, and these improvements and modifications should be considered as the protection scope of the present application.

Claims

1. A multi-control task coordination and decision-making method for a hydraulic support cluster, characterized in that, include: S1, obtain multiple hydraulic support task subgroups into which the hydraulic support cluster is divided, each hydraulic support task subgroup including multiple hydraulic support individuals; S2, determine the control task set corresponding to each hydraulic support task subgroup, the control task set including multiple control tasks; S3, determine the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, wherein the target hydraulic support task subgroup is any one of multiple hydraulic support task subgroups. S4. Based on the desire degree values ​​of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, construct the multi-control task desire degree distribution matrix of the target hydraulic support subgroup. Let k = max{m, n}, where m is the target hydraulic support task subgroup P = {p1, p2, ..., p...} m The number of individual hydraulic supports in the target hydraulic support task subgroup is denoted by n, where n is the control task set S={s1, s2,…, s}. n The number of control tasks in}; if m < n = k, introduce km virtual individuals of hydraulic supports; if n < m = k, introduce kn virtual control tasks; based on the introduction of virtual individuals of hydraulic supports or virtual control tasks, obtain the multi-control task desire distribution matrix of the target hydraulic support subgroup; S5. Determine the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup based on the multi-control task desire distribution matrix, and decide the execution order of each control task based on the priority of each control task.

2. The multi-control task coordination and decision-making method for hydraulic support clusters according to claim 1, characterized in that, When determining the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, S3 determines the desire value of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set based on the position of the coal mining machine, the overall straightness requirement of the working face, the pressure of the support column, the posture of the hydraulic support, and the position of the personnel on the working face.

3. The multi-control task coordination and decision-making method for hydraulic support clusters according to claim 1, characterized in that, When constructing the multi-control task desire distribution matrix of the target hydraulic support subgroup based on the desire degree values ​​of each hydraulic support individual in the target hydraulic support task subgroup for each control task in its corresponding control task set, S4 falls into the following categories: 1) If m=n=k, let , i =1, 2, …, n; j =1, 2, …, n; 2) If m < n = k, let 3) If n < m = k, let in, ; Using the above processing method, the multi-control task desire distribution matrix of the target hydraulic support subgroup is obtained. The details are as follows: If m=n=k, then: If m < n = k, then: If n < m = k, then: 。 4. The multi-control task coordination and decision-making method for hydraulic support clusters according to claim 3, characterized in that, When S5 determines the priority of each control task in the control task set corresponding to the target hydraulic support task subgroup based on the multi-control task desire distribution matrix, Solve the system of equations based on the multi-control task desire distribution matrix. exist and The solution below; Let the solution obtained be Let the control task set S = {s} 1, s2,…, s n The g-th and h-th control tasks in} are s respectively g and s h , If satisfied , then s g Priority greater than s h , denoted as s g →s h ; If satisfied , then s g Priority is equivalent to s h , denoted as s g =s h .

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