A hydraulic support control system based on mine car

Abstract

The present application relates to the technical field of coal mining, and more particularly to a hydraulic support control system based on mine pigeon, comprising: a dispatch center, a first link, a second link, a mine pigeon controller and a hydraulic support controlled by the mine pigeon controller; the mine pigeon controller is connected to the dispatch center through the first link and the second link respectively; the dispatch center is used for receiving and displaying the hydraulic support data uploaded by the mine pigeon controller, and sending a first control instruction to the mine pigeon controller through the first link and the second link according to the received first user input information; the mine pigeon controller is used for monitoring the hydraulic support data controlled by the mine pigeon controller in real time, uploading the hydraulic support data to the dispatch center through the first link and the second link, and controlling the hydraulic support controlled by the mine pigeon controller to act according to the received first control instruction. The beneficial effect is that data redundancy is generated, and the safety and stability of the data transmission process are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mining, in particular to a hydraulic support control system based on mine pigeon. BACKGROUND

[0002] The hydraulic support is a structure for controlling the pressure of the coal mining working mine, and the mine pressure in the form of external load acts on the hydraulic support. The present hydraulic support control system adopts a cable to connect each device, and completes data exchange and information interaction between adjacent devices, so as to complete the network communication and control function of the overall system.

[0003] However, the underground environment is harsh, and factors such as humidity, high temperature, dust and corrosive gas can affect the service life of the cable, causing the cable to be damaged, thereby causing communication interruption, greatly affecting the stability and reliability of the system. Even if a wireless communication mode is used, only simple data exchange is performed between devices connected wirelessly with each other, and long-distance communication is prone to data interruption, loss and other phenomena, and the communication stability and reliability cannot be guaranteed.

[0004] Therefore, there is an urgent need for a hydraulic support control system to ensure smooth and stable communication between devices. SUMMARY

[0005] (I) Technical problems to be solved

[0006] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present application provides a hydraulic support control system based on mine pigeon, which solves the technical problems of poor single-link communication reliability, easy data terminal and loss, and further safety accidents.

[0007] (II) Technical solutions

[0008] In order to achieve the above-mentioned purposes, the main technical solutions adopted by the present application include:

[0009] In a first aspect, a hydraulic support control system based on mine pigeon includes:

[0010] A dispatch center, a first link, a second link, a mine pigeon controller, and a hydraulic support controlled by the mine pigeon controller;

[0011] The mine pigeon controller is connected to the dispatch center through the first link and the second link, respectively.

[0012] The dispatch center is configured to receive and display hydraulic support data uploaded by the mine pigeon controller, and when receiving a first user input information input by a user, send a first control instruction to the mine pigeon controller through the first link and the second link at the same time.

[0013] The mine controller is used for monitoring hydraulic support data corresponding to the control of the mine controller in real time, and uploading the hydraulic support data to the dispatch center through the first link and the second link at the same time, and when the first control instruction is received, controlling the hydraulic support corresponding to the control of the mine controller to act.

[0014] Optionally, the dispatch center is further used for judging whether the same hydraulic support data sent by the mine controller in the other link is received within a first preset time when the dispatch center receives the hydraulic support data sent by the mine controller in the first link or the second link.

[0015] If the same hydraulic support data sent by the other link is received, the same hydraulic support data sent by the other link is saved as first backup data.

[0016] The mine controller is further used for judging whether the same first control instruction sent by the dispatch center in the other link is received within a second preset time when the mine controller receives the first control instruction sent by the dispatch center in the first link or the second link.

[0017] If the same first control instruction sent by the other link is received, the same first control instruction sent by the other link is saved as second backup data.

[0018] Optionally, when the dispatch center receives the hydraulic support data sent by the mine controller in the first link or the second link, and judges that the same hydraulic support data in the other link is not received within a first preset time, the dispatch center marks the other link as an abnormal link and issues an abnormal early warning to prompt that the other link is abnormal.

[0019] When the mine controller receives the first control instruction sent by the dispatch center in the first link or the second link, and judges that the same first control instruction sent by the dispatch center in the other link is not received within a second preset time, the mine controller issues an abnormal early warning to prompt that the other link is abnormal, and sends early warning information to the dispatch center, and the dispatch center marks the other link as an abnormal link according to the early warning information and issues an abnormal early warning to prompt that the other link is abnormal.

[0020] Optionally, the first link is a wireless communication link, including that the mine controller is wirelessly connected to a wireless base station and then is wiredly connected to the dispatch center.

[0021] The second link is a wired communication link, including that the mine controller is wiredly connected to a switch and then is wiredly connected to the dispatch center.

[0022] The mine controller includes a dual-frequency wifi / Bluetooth module.

[0023] The dual-frequency WIFI / Bluetooth module is configured to connect a wireless base station to realize information exchange between the mine controller and the dispatch center.

[0024] Optionally, the system further comprises a mobile terminal.

[0025] The dual-frequency WIFI / Bluetooth module is further configured to connect the mobile terminal based on a pre-set Bluetooth protocol and determine whether the mobile terminal passes the identity authentication.

[0026] When the mobile terminal passes the identity authentication, the dual-frequency WIFI / Bluetooth module provides wireless signals for the mobile terminal as an access point, controls the hydraulic support corresponding to the mine controller to act based on the second control instruction sent by the mobile terminal, and sends the real-time monitored hydraulic support data corresponding to the mine controller to the mobile terminal.

[0027] The mobile terminal is configured to receive and display the hydraulic support data uploaded by the mine controller, and send the second control instruction to the mine controller according to the received second user input information.

[0028] Optionally, the system further comprises a ring network.

[0029] The mine controller further comprises a 5G communication module configured to provide 5G communication.

[0030] The mine controller is connected to the wireless base station remotely through WIFI provided by the dual-frequency WIFI / Bluetooth module or 5G provided by the 5G communication module, and is connected to the switch through a LAN bus.

[0031] When the dispatch center sends the first control instruction to the mine controller based on the first user input information, the dispatch center sends the first control instruction to all devices connected to the ring network based on a pre-set Broadcast mode.

[0032] When the mine controller uploads the hydraulic support data to the dispatch center, the mine controller sends the hydraulic support data to all devices connected to the ring network based on the pre-set Broadcast mode.

[0033] Optionally, the system further comprises an image collector.

[0034] The image collector is configured to collect images of the target position in real time and send the images to the mine controller; the image information of the target position is an image of an action range of the hydraulic support corresponding to the mine controller;

[0035] The mine controller is further configured to obtain an action trajectory of the hydraulic support in the first pre-established spatial coordinate system according to the received first control instruction and hydraulic support data; the hydraulic support data includes initial coordinates of each edge position of the hydraulic support in the first pre-established spatial coordinate system;

[0036] The received image of the target position is subjected to binaryzation processing to obtain a processed obstacle image, and a position matrix of the obstacle image in the first spatial coordinate system is obtained according to a mapping relationship between the obstacle image and the first pre-established spatial coordinate system and an image coordinate system;

[0037] Whether the action of the hydraulic support exists an obstacle is judged according to the position matrix and the action trajectory of the hydraulic support;

[0038] If yes, whether the hydraulic support corresponding to the mine controller is controlled to act according to the received first control instruction is judged according to the received third user input information;

[0039] If no, the hydraulic support corresponding to the mine controller is controlled to act according to the received first control instruction.

[0040] Optionally, the mine controller obtains the action trajectory of the hydraulic support in the first pre-established spatial coordinate system according to the received first control instruction and hydraulic support data, including:

[0041] The mine controller obtains position coordinates of each edge position of the hydraulic support in the first spatial coordinate system after the hydraulic support executes the first control instruction according to the first control instruction, obtains position coordinates of each edge position of the hydraulic support in the first spatial coordinate system at each time point in X, Y and Z directions in the first spatial coordinate system according to pre-set velocities and accelerations of each edge position of the hydraulic support in the first spatial coordinate system at each time point, obtains position coordinates of each edge position of the hydraulic support in the first spatial coordinate system at each time point according to a pre-set formula one until the position coordinates of each edge position of the hydraulic support in the first spatial coordinate system after the hydraulic support executes the first control instruction are reached, and records a number of unit time points from the start of the execution of the first control instruction to the end of the execution of the first control instruction; each edge position includes at least one pre-set position point on an edge of the hydraulic support;

[0042] The formula one is:

[0043] ;

[0044] wherein, is the coordinate of the position point with serial number i in the first spatial coordinate system at the tth unit time, are respectively the accelerations of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the tth unit time, are respectively the velocities of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the tth unit time, are respectively the coordinate positions of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the (t-1)th unit time, and T is a pre-set unit time;

[0045] The mine controller performs preliminary screening on the historical action trajectories of the hydraulic support in the pre-set historical database according to the number of unit times from the start of the execution of the first control instruction to the end of the execution of the first control instruction, and traverses the remaining historical trajectories after the preliminary screening, and obtains deviation values of each edge position and each edge position in each trajectory in the remaining historical trajectories according to a pre-set formula two; the formula two is:

[0046] ;

[0047] wherein, are respectively initial coordinate positions of the position point with serial number i in the X, Y, Z directions in the pre-set first spatial coordinate system, are respectively initial coordinate positions of the position point with serial number i in the X, Y, Z directions in the pre-set first spatial coordinate system in the historical trajectory, are respectively coordinate positions of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the tth unit time, are respectively coordinate positions of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the tth unit time in the historical trajectory, and w1 and w2 are respectively pre-set weights;

[0048] When the deviation value D≤5%, the historical trajectory is adopted as the final action trajectory of the hydraulic support in the pre-set first spatial coordinate system.

[0049] Optionally, the mine controller is further configured to, when there are multiple historical trajectories with the deviation value D≤5%, fit the historical trajectories with the deviation value D≤5% to obtain the final action trajectory of the hydraulic support in the pre-set first spatial coordinate system.

[0050] Optionally, the mobile terminal, the dispatching center and the mine controller are all connected in communication based on a pre-set MDTP communication protocol through a ring network.

[0051] (Three) beneficial effects

[0052] The beneficial effects of the present application are: the hydraulic support control system based on minehong of the present application can generate data redundancy, improve the safety and stability of the data transmission process, because the double-link transmission of wireless communication and wired communication between the minehong controller and the dispatch center is adopted. BRIEF DESCRIPTION OF DRAWINGS

[0053] Figure 1 The structure diagram of the hydraulic support control system based on minehong according to the embodiment 1 of the present application is shown.

[0054] Figure 2 The structure diagram of the minehong controller according to the embodiment of the present application is shown. DETAILED DESCRIPTION

[0055] In order to better explain the present application, so as to be understood, the present application is described in detail by specific implementation mode, combined with the drawings.

[0056] The hydraulic support control system based on minehong of the present application can generate data redundancy, improve the safety and stability of the data transmission process, because the double-link transmission of wireless communication and wired communication between the minehong controller and the dispatch center is adopted.

[0057] In order to better understand the above technical solutions, the exemplary embodiments of the present application will be described in more detail below with reference to the drawings. Although the exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided so that the present application can be more clearly, thoroughly understood, and the scope of the present application can be completely conveyed to those skilled in the art.

[0058] Embodiment 1

[0059] The hydraulic support control system based on minehong of the present application is shown, which comprises a dispatch center, a ring network, a wireless base station, a switch, a mobile terminal, at least one minehong controller and a hydraulic support controlled by each minehong controller. Figure 1

[0060] Each minehong controller is connected to the wireless base station through WIFI / 5G wireless connection at the same time, and is connected to the switch through LAN; the dispatch center, the wireless base station and the switch are all connected to the ring network; each minehong controller is connected to its corresponding hydraulic support through CAN bus, and the minehong controllers are connected through CAN bus, and a CAN repeater is arranged between a preset number of minehong controllers; the mobile terminal can be connected to any minehong controller through a pre-set APP.

[0061] ​The dispatch center generates a first control instruction according to the received user input information, and sends the first control instruction to all devices connected to the ring network based on a pre-set Broadcast mode, that is, the first control instruction is uploaded to the ring network and then sent to all mine controllers through the wireless base station and the switch.

[0062] Any of the mine controllers monitors the hydraulic support data corresponding to the mine controller in real time, and uploads the hydraulic support data to the dispatch center through the wireless base station and / or the switch; when the mine controller uploads the hydraulic support data to the dispatch center, the mine controller sends the hydraulic support data to all devices connected to the ring network based on a pre-set Broadcast mode.

[0063] Any of the mine controllers controls the hydraulic support corresponding to the mine controller to act according to the received first control instruction.

[0064] When the dispatch center receives the hydraulic support data transmitted through the first link or the second link (the first link is a wireless communication link, that is, the dispatch center is connected to the ring network in communication, and then the mine controller is connected to the wireless base station in communication, and the second link is a wired communication link, that is, the dispatch center is connected to the ring network in communication, and then the mine controller is connected to the switch in communication), the dispatch center judges whether the same hydraulic support data sent by the mine controller in the other link is received within a first preset time (that is, when the dispatch center receives the hydraulic support data transmitted through the first link, it is judged whether the same data sent through the second link is received within a first preset time, or when the dispatch center receives the hydraulic support data transmitted through the second link, it is judged whether the same data sent through the first link is received within a first preset time); if yes, the same hydraulic support data sent through the other link received later is saved as first backup data; if not, the dispatch center marks the link from which the same hydraulic support data is not received as an abnormal link, and issues an abnormal early warning to prompt the link abnormality.

[0065] When the mine controller receives the first control instruction transmitted through the first link or the second link, the mine controller judges whether the same first control instruction sent by the dispatch center in the other link is received within a second preset time; if yes, the same first control instruction sent through the other link is saved as second backup data; if not, the mine controller issues an abnormal early warning to prompt the abnormality of the other link, and sends early warning information to the dispatch center through the normal link, and the dispatch center marks the other link as an abnormal link based on the early warning information, and issues an abnormal early warning to prompt the abnormality of the other link.

[0066] The communication between the mobile terminal, the dispatch center, all mine controllers, and the hydraulic support corresponding to each mine controller adopts the MDTP protocol, which is a protocol specific to the coal mine field and is used for transmitting process data and information between different devices and systems in the field, so as to unify the communication protocols between devices and systems, realize the communication and data transmission between devices, and directly realize point-to-point communication without the need of a communication integration device.

[0067] The embodiment of the present application provides a mine-based hydraulic support control system, which adopts double-link communication between the dispatch center and the mine controller, generates data redundancy in the data interaction process between the mine controller and the dispatch center, and guarantees the stability and reliability of the data transmission process.

[0068] Embodiment 2

[0069] The embodiment of the present application provides a mine controller, as shown in the figure, which is applied to the mine-based hydraulic support control system of embodiment 1 and includes a built-in WIFI / Bluetooth component, a CAN bus interface component, a 5G communication component, and a network port component, so as to realize multi-mode communication (WIFI5, WIFI6, 4G, 5G, Ethernet, etc.) between the mine controller and external devices and guarantee the stability and convenience of the communication link. Figure 2

[0070] Specifically, one of the WIFIs in the built-in WIFI / Bluetooth component is used for connecting a wireless base station, and the other is used as an AP for connecting a mobile terminal device; specifically, one is used for browsing data, and only a near-end operation and maintenance mobile terminal can control the other WIFI in the AP mode after connecting through Bluetooth, and the control permission is cancelled when the near-end communication distance from the Bluetooth and the AP is out of range. The mobile terminal remotely sends a second control instruction to a specified mine controller to control the corresponding hydraulic support to act.

[0071] A kind of authentication mode, the mobile terminal includes pre-set radio frequency tag, at this time, the mine controller includes radio frequency card reader;Specifically: the mine controller identifies the radio frequency tag in specified range by radio frequency card reader, and judges whether the same tag as the radio frequency tag of mobile terminal exists in pre-set tag library, so that the mine controller is connected with mobile terminal communication.

[0072] The embodiment of the present application provides a mine-based hydraulic support control system, which provides a connection mode between the mine controller and the mobile terminal through the built-in dual-frequency WIFI / Bluetooth component, and provides a stable and reliable mode for the remote communication connection between the mobile terminal and the mine controller.

[0073] Embodiment 3

[0074] ​The embodiment provides a hydraulic support control system based on a mine crane, and further comprises an image collector;

[0075] The image collector is used for collecting images of a target position in real time and sending the images to the mine crane controller; the image information of the target position is an image of an actionable range of the hydraulic support controlled by the mine crane controller. Generally, the image collector comprises a plurality of depth cameras and color cameras corresponding to the depth cameras.

[0076] When the image collector collects images collected by all the depth cameras and the color cameras corresponding to each depth camera, the image collector performs image fusion on each set of corresponding depth images and color images after coordinate alignment, generates a color image with a depth value of each pixel position, and sends the color image to the mine crane controller; after the mine crane controller pre-processes (the pre-processing comprises denoising, image segmentation and the like) all the received images, the mine crane controller obtains coordinates of each pixel position in the image of the target position at this time in combination with all the received images.

[0077] At this time, the mine crane controller is further used for obtaining, by the mine crane controller, position coordinates of each edge position of the hydraulic support in the first spatial coordinate system after the hydraulic support executes the first control instruction, according to the first control instruction, obtaining, by the mine crane controller, position coordinates of each edge position of the hydraulic support in the first spatial coordinate system at each time in X, Y and Z directions according to pre-set velocities and accelerations of each edge position of the hydraulic support in the first spatial coordinate system at each time, and obtaining, by the mine crane controller, position coordinates of each edge position of the hydraulic support in the first spatial coordinate system at each time according to a pre-set formula one, until the position coordinates of each edge position of the hydraulic support in the first spatial coordinate system after the hydraulic support executes the first control instruction are reached, and recording a number of unit instants from the start of executing the first control instruction to the end of executing the first control instruction; each edge position comprises at least one position point on a pre-set edge of the hydraulic support.

[0078] The formula one is:

[0079] ;

[0080] wherein, is a coordinate of the position point with the serial number i in the first spatial coordinate system at the tth unit instant, are accelerations of the position point with the serial number i in the first spatial coordinate system in X, Y and Z directions at the tth unit instant, respectively, are velocities of the position point with the serial number i in the first spatial coordinate system in X, Y and Z directions at the tth unit instant, respectively, are coordinate positions of the position point with the serial number i in the first spatial coordinate system in X, Y and Z directions at the (t-1)th unit instant, respectively, and T is a pre-set unit instant.

[0081] The mine hydraulic support controller performs preliminary screening on the historical action trajectory of the hydraulic support in the historical database according to the number of unit time points from the start of the execution of the first control instruction to the end of the execution of the first control instruction, and traverses the remaining historical trajectory after the preliminary screening, and obtains the deviation value of each edge position from each edge position in the remaining trajectory according to the pre-set formula two.

[0082] ;

[0083] wherein, are the initial coordinate positions of the position point with the serial number i in the X, Y and Z directions in the pre-established first space coordinate system, are the initial coordinate positions of the position point with the serial number i in the X, Y and Z directions in the pre-established first space coordinate system in the historical trajectory, are the coordinate positions of the position point with the serial number i in the X, Y and Z directions in the first space coordinate system at the tth unit time point, are the coordinate positions of the position point with the serial number i in the X, Y and Z directions in the first space coordinate system at the tth unit time point in the historical trajectory, and w1 and w2 are the pre-set weights;

[0084] When the deviation value D is less than or equal to 5%, the historical trajectory is adopted as the final action trajectory of the hydraulic support in the pre-established first space coordinate system. When there are multiple historical trajectories with the deviation value D less than or equal to 5%, the historical trajectories with the deviation value D less than or equal to 5% are fitted to obtain the final action trajectory of the hydraulic support in the pre-established first space coordinate system.

[0085] The hydraulic support data includes initial coordinates of each edge position of the hydraulic support in a pre-established first space coordinate system; an image of the received target position is subjected to binaryzation processing to obtain a processed obstacle image, and a position matrix of the obstacle image in the first space coordinate system is obtained according to a mapping relationship between the obstacle image and the pre-established first space coordinate system and an image coordinate system; whether the action of the hydraulic support is blocked is judged according to the position matrix and the action trajectory of the hydraulic support; if yes, whether the hydraulic support controlled by the mine crane controller according to the received first control instruction is controlled to act is judged according to the received third user input information; if no, the hydraulic support controlled by the mine crane controller according to the received first control instruction is controlled to act. The coordinates of each edge position are recorded in real time during execution of the first control instruction by the mine crane controller, and when the execution ends, the coordinates of each edge position at each unit time during execution of the first control instruction, the number of unit times used for execution of the first control instruction, the coordinates of the starting position and the ending position during execution of the first control instruction, and the action trajectory are recorded as a historical trajectory in a pre-set historical database.

[0086] Another, each hydraulic support is provided with an infrared identification device, and the infrared identification device is used for detecting whether there is an obstacle in front of the hydraulic support in real time during the action of the hydraulic support.

[0087] The embodiment provides a hydraulic support control system based on a mine crane, which adopts an image collector and / or an infrared identification device, guarantees safety during operation of the hydraulic support control system, and improves stability and reliability of the hydraulic support control system provided by the embodiment.

[0088] In the description of the present application, it should be understood that the terms "first", "second" are only used for descriptive purpose, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0089] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connecting", "fixing" and the like should be understood in a broad sense, for example, can be fixed connection, or detachable connection, or integral; can be mechanical connection, or electrical connection; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0090] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can 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 is "over", "above" and "on top of" a second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. A first feature is "under", "below" and "underneath" a second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.

[0091] In the description of the present application, the description of the terms "one embodiment", "some embodiments", "embodiment", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the person skilled in the art can combine and combine the different embodiments or examples described in the present specification and the features of the different embodiments or examples without contradiction.

[0092] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and are not to be construed as limiting the present application, and the person skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A hydraulic support control system based on a mine car, characterized by, The system comprises: a dispatch center, a first link, a second link, a mine controller, and a hydraulic support corresponding to the mine controller controlled by the mine controller; The mine controller is connected to the dispatch center through the first link and the second link respectively; The dispatch center is configured to receive and display the hydraulic support data uploaded by the mine controller, and send a first control instruction to the mine controller through the first link and the second link when receiving a first user input information input by a user; The mine controller is configured to monitor the hydraulic support data corresponding to the mine controller in real time, upload the hydraulic support data to the dispatch center through the first link and the second link, and control the hydraulic support corresponding to the mine controller to act when receiving the first control instruction; The system further comprises an image collector; The image collector is configured to collect images of a target position in real time and send the images to the mine controller, and the image information of the target position is an image of an action range of the hydraulic support corresponding to the mine controller; The mine controller is further configured to obtain position coordinates of each edge position of the hydraulic support in a first space coordinate system after the hydraulic support executes the first control instruction according to the first control instruction, obtain position coordinates of each edge position of the hydraulic support in the first space coordinate system at each time according to pre-set velocities and accelerations of each edge position of the hydraulic support in X, Y and Z directions in the first space coordinate system at each time and a pre-set formula one, and record a number of unit time from the start of the execution of the first control instruction to the end of the execution of the first control instruction until the position coordinates of each edge position of the hydraulic support in the first space coordinate system after the hydraulic support executes the first control instruction are reached; each edge position includes at least one pre-set position point on an edge of the hydraulic support; The formula one is: ； wherein Xi(t) is the coordinate of the position point with serial number i in the first spatial coordinate system at the tth unit time, XiX(t), XiY(t), XiZ(t) are the accelerations of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the tth unit time, respectively, XiVX(t), XiVY(t), XiVZ(t) are the velocities of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the tth unit time, respectively, XiX(t-1), XiY(t-1), XiZ(t-1) are the coordinate positions of the position point with serial number i in the X, Y, Z directions in the first spatial coordinate system at the (t-1)th unit time, respectively, and T is a unit time set in advance. The mine controller preliminarily filters the historical action trajectories of the hydraulic support in a pre-set historical database according to the number of unit time from the start of the execution of the first control instruction to the end of the execution of the first control instruction, traverses the remaining historical trajectories after the preliminary filtering, and obtains deviation values of each edge position and each edge position of each trajectory in the remaining trajectories according to a pre-set formula two; the formula two is: ; wherein, Xi, Yi, Zi are the initial coordinate positions of the position point with serial number i in the X, Y, Z directions in the first space coordinate system established in advance, Xi, Yi, Zi are the initial coordinate positions of the position point with serial number i in the X, Y, Z directions in the first space coordinate system established in advance in the historical trajectory, Xi, Yi, Zi are the coordinate positions of the position point with serial number i in the X, Y, Z directions in the first space coordinate system at the tth unit time, Xi, Yi, Zi are the coordinate positions of the position point with serial number i in the X, Y, Z directions in the first space coordinate system at the tth unit time in the historical trajectory, w1, w2 are the weights set in advance, respectively. When the deviation value D is less than or equal to 5%, the historical trajectory is used as a final action trajectory of the hydraulic support in the pre-set first space coordinate system; the hydraulic support data includes initial coordinates of each edge position of the hydraulic support in the pre-set first space coordinate system; The received image of the target position is subjected to a binaryzation processing to obtain a processed obstacle image, and a position matrix of the obstacle image in the first space coordinate system is obtained according to a mapping relationship between the obstacle image and the pre-set first space coordinate system and an image coordinate system; Whether the action of the hydraulic support is blocked is determined according to the position matrix and the action trajectory of the hydraulic support; If the third user input information is received, it is determined whether the hydraulic support corresponding to the mine car controller is controlled to act according to the received first control instruction; If the third user input information is not received, the hydraulic support corresponding to the mine car controller is controlled to act according to the received first control instruction.

2. The mine car-based hydraulic support control system according to claim 1, wherein the dispatch center is further configured to determine whether the same hydraulic support data sent by the mine car controller in the other link is received within a first preset time when the dispatch center receives the hydraulic support data sent by the mine car controller in the first link or the second link; If the same hydraulic support data sent by the mine car controller in the other link is received, the same hydraulic support data sent by the mine car controller in the other link is saved as first backup data; The mine car controller is further configured to determine whether the same first control instruction sent by the dispatch center in the other link is received within a second preset time when the mine car controller receives the first control instruction sent by the dispatch center in the first link or the second link; If the same first control instruction sent by the dispatch center in the other link is received, the same first control instruction sent by the dispatch center in the other link is saved as second backup data.

3. The mine car-based hydraulic support control system according to claim 2, wherein when the dispatch center receives the hydraulic support data sent by the mine car controller in the first link or the second link and determines that the same hydraulic support data sent by the mine car controller in the other link is not received within the first preset time, the dispatch center marks the other link as an abnormal link and sends an abnormal early warning to prompt that the other link is abnormal; When the mine car controller receives the first control instruction sent by the dispatch center in the first link or the second link and determines that the same first control instruction sent by the dispatch center in the other link is not received within the second preset time, the mine car controller sends an abnormal early warning to prompt that the other link is abnormal, and sends early warning information to the dispatch center, and the dispatch center marks the other link as an abnormal link according to the early warning information and sends an abnormal early warning to prompt that the other link is abnormal.

4. The mine car-based hydraulic support control system according to claim 1, wherein the first link is a wireless communication link, including that the mine car controller is wirelessly connected to a wireless base station and then is wiredly connected to the dispatch center; The second link is a wired communication link, including that the mine car controller is wiredly connected to a switch and then is wiredly connected to the dispatch center; The mine car controller includes a dual-frequency wifi / Bluetooth module; The dual-frequency wifi / Bluetooth module is configured to connect to the wireless base station to realize information exchange between the mine car controller and the dispatch center. The system further includes a mobile terminal; The dual-frequency wifi / Bluetooth module is further configured to connect to the mobile terminal based on a pre-set Bluetooth protocol and determine whether the identity authentication of the mobile terminal is passed. ​ 5. The hydraulic support control system based on the mine car according to claim 4, characterized in that, ​ ​ When passing through, the wireless base station provides wireless signals for the mobile terminal as an access point, controls the hydraulic support corresponding to the mine control controller to act based on the second control instruction sent by the mobile terminal, and sends the real-time monitored hydraulic support data corresponding to the mine control controller to the mobile terminal; and during the access of the mobile terminal, the position information of the mobile terminal is monitored in real time, and it is judged whether the distance from the mobile terminal to the mine control controller exceeds the pre-set distance threshold, if it exceeds, the connection with the mobile terminal is cut off; The mobile terminal is used for receiving and displaying the hydraulic support data uploaded by the mine control controller, and sending the second control instruction to the mine control controller according to the received second user input information.

6. The hydraulic support control system based on the mine car according to claim 5, characterized in that, The system further comprises a ring network; The mine control controller further comprises a 5G communication module for providing 5G communication; The mine control controller connects the wireless base station remotely through WIFI provided by the dual-frequency WIFI / Bluetooth module or 5G provided by the 5G communication module, and connects the switch through the LAN bus, and the wireless base station, the switch and the dispatching center are connected to the ring network through the LAN bus; When the dispatching center sends the first control instruction to the mine control controller based on the first user input information, the dispatching center sends the first control instruction to all devices accessing the ring network based on the pre-set Broadcast mode; When the mine control controller uploads the hydraulic support data to the dispatching center, the mine control controller sends the hydraulic support data to all devices accessing the ring network based on the pre-set Broadcast mode.

7. The hydraulic support control system based on the mine car of claim 1, wherein, The mine control controller is further used for fitting the historical trajectory with the deviation value D≤5% when the deviation value D≤5% of the historical trajectory exists, to obtain the final action trajectory of the hydraulic support in the pre-established first spatial coordinate system.

8. The hydraulic support control system based on the mine car of claim 6, wherein, The mobile terminal, the dispatching center and the mine control controller are all connected through the ring network based on the pre-set MDTP communication protocol.

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