Intelligent driving control method and device for underground coal mine supporting tractor

Abstract

The invention discloses an intelligent driving control method and device for an underground coal mine supporting tractor. The method comprises the following steps: a control configuration system responds to a mode selection operation of a target object, and determines a control mode for controlling the support tractor based on the mode selection operation; determining a hardware device corresponding to the control mode as a target hardware device by using the programmable logic controller, and generating an acquisition control instruction; the target hardware equipment is controlled to collect environment data within a preset range of the position where the supporting tractor is located according to the collection control instruction; the environment data is fed back to the programmable logic controller, so that a driving control strategy for the supporting tractor is generated according to the environment data; and controlling the support tractor to run in the coal mine according to the running control strategy. The technical problem that potential safety hazards possibly exist in the coal mine underground driving process of an underground supporting tractor due to poor track conditions, narrow space, view limitation and other transportation equipment in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of supporting tractors, and in particular to an intelligent driving control method and device for a supporting tractor in an underground coal mine. Background Art

[0002] Coal mine underground support tractor is a kind of equipment used in coal mines, mainly used to transport mine support materials, such as pillars, steel beams, steel arches, wood and other materials used for mine tunnel support. This type of equipment is usually designed with strong traction capacity and can adapt to the complex environment of coal mines, such as narrow spaces, humid conditions and uneven tracks. The main functions of the support tractor include: traction: It has sufficient traction to haul mining support equipment and materials. Load-bearing: It has a certain load-bearing capacity to carry materials. Operability: It is usually easy to operate and can travel flexibly in a narrow underground environment. Safety: Because the underground working environment is dangerous, safety performance is considered during the design, such as explosion-proof design. It plays a very important role in mine construction and maintenance, helping to improve work efficiency and ensure the safety of miners.

[0003] The hidden dangers that underground support tractors may encounter when driving underground in coal mines include: Poor track conditions: The underground tracks may be damaged or uneven, which may cause the tractor to derail or drive unstably, increasing the risk of accidents. Narrow space: The underground tunnels are narrow, and the tractor is prone to collision or jamming when turning or crossing. Limited vision: The lighting conditions underground are usually poor, and the tunnels are curved, which greatly limits the driver's vision and may lead to misjudgment. Other transportation equipment: The underground support tractor may share tracks with other transportation equipment or motorized equipment, which may easily cause collisions or mutual influence. Human error: If the operator is not adequately trained, or is driving due to fatigue or operating incorrectly, accidents may occur.

[0004] With regard to the problem in the above-mentioned related technologies that underground support tractors may pose safety hazards due to poor track conditions, narrow space, limited vision and other transportation equipment when traveling underground in coal mines, no effective solution has been proposed yet. Summary of the invention

[0005] The embodiments of the present invention provide an intelligent driving control method and device for a supporting tractor in an underground coal mine, so as to at least solve the technical problem in the related art that the underground supporting tractor may have safety hazards due to poor track conditions, narrow space, limited vision and other transportation equipment during driving in the coal mine.

[0006] According to one aspect of an embodiment of the present invention, there is provided an intelligent driving control method for a supporting tractor in an underground coal mine, comprising: a control configuration system responding to a mode selection operation of a target object, and determining a control mode for controlling the supporting tractor based on the mode selection operation; using a programmable logic controller to determine a hardware device corresponding to the control mode as a target hardware device, and generating a collection control instruction for controlling the target hardware device to perform data collection, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; controlling the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction; feeding back the environmental data to the programmable logic controller, so as to use the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data; and controlling the supporting tractor to travel in the underground coal mine according to the driving control strategy.

[0007] Optionally, the control mode includes at least: local control mode, remote control mode, remote control mode and automatic control mode, and the programmable logic controller is used to determine that the hardware device corresponding to the control mode is the target hardware device, including: when the control mode is the local control mode, the electro-hydraulic control reversing valve group and the controller in the hardware device are determined as the target hardware device, wherein the electro-hydraulic control reversing valve group and the controller are both used to control the oil cylinder supporting the tractor; when the control mode is the remote control mode, the remote control in the hardware device is determined as the target hardware device, and the remote control is used to send control instructions for the oil cylinder to the controller; when the control mode is the remote control mode, The pressure sensor, image acquisition device and magnetostrictive sensor in the hardware device are determined as the target hardware devices, wherein the pressure sensor is used to monitor the pressure state of the oil cylinder, the magnetostrictive sensor is used to collect stroke data information of the oil cylinder, and the image acquisition device is used to collect video image data of the supporting tractor; when the control mode is the automatic control mode, the laser radar sensor, ultrasonic radar sensor, the pressure sensor and the magnetostrictive sensor in the hardware device are determined as the target hardware devices, wherein the laser radar sensor is used to collect terrain and obstacle information in the middle tunnel of the coal mine, and the ultrasonic radar sensor is used to detect the distance between the supporting tractor and the obstacles within the predetermined range.

[0008] Optionally, controlling the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction includes: sending the collection control instruction to the edge device through a programmable logic controller, wherein a second communication connection relationship exists between the programmable logic controller and the edge device; sending the received collection control instruction to the target hardware device through the edge device, wherein a third communication connection relationship exists between the edge device and each of the hardware devices; controlling the target hardware device to collect the environmental data within the predetermined range of the position of the supporting tractor according to the collection control instruction sent by the edge device.

[0009] Optionally, the environmental data is fed back to the programmable logic controller so that the programmable logic controller can be used to generate a driving control strategy for the supporting tractor according to the environmental data, including: controlling the target hardware device to send the collected environmental data to the edge device; using the edge device to preprocess and convert the environmental data to obtain target environmental data; inputting the target environmental data into the programmable logic controller so that the programmable logic controller can be used to process the target environmental data to obtain device control instructions for the target hardware device; and determining that the strategy of controlling the target hardware device to perform actions according to the device control instructions to drive the supporting tractor to travel is the driving control strategy.

[0010] Optionally, after inputting the target environment data into the programmable logic controller, using the programmable logic controller to process the target environment data and obtaining equipment control instructions for the target hardware device, the intelligent driving control method for the underground coal mine support tractor also includes: using the programmable logic controller to send the equipment control instructions to the edge device; using the edge device to send the received equipment control instructions to the target hardware device, so that the target hardware device performs corresponding actions according to the equipment control instructions to drive the support tractor to travel.

[0011] Optionally, after using the edge device to preprocess and format-convert the environmental data to obtain the target environmental data, the intelligent driving control method for the underground coal mine support tractor also includes: using the edge device to obtain the device status of each of the hardware devices; sending the device status to the programmable logic controller through the edge device; sending the target environmental data and the device status to the configuration system through the programmable logic controller, so as to use the configuration system to display the target environmental data and the device status.

[0012] Optionally, the intelligent driving control method of the supporting tractor in an underground coal mine also includes: in the process of controlling the supporting tractor to drive in the underground coal mine according to the driving control strategy, obtaining terrain conditions and obstacle information in the tunnels in the underground coal mine by means of an array laser radar; evaluating the driving path of the supporting tractor according to the terrain conditions and the obstacle information to obtain an evaluation result, wherein the driving path is the path of the supporting tractor when it drives according to the driving control strategy; generating a warning signal when the evaluation result indicates that the terrain condition is an uphill or downhill terrain, and / or the evaluation result indicates that the obstacle is located within the predetermined range of the position of the supporting tractor.

[0013] According to another aspect of an embodiment of the present invention, an intelligent driving control device for a supporting tractor in an underground coal mine is also provided, comprising: a first control unit, used to control a configuration system to respond to a mode selection operation of a target object, and determine a control mode for controlling the supporting tractor based on the mode selection operation; a determination unit, used to use a programmable logic controller to determine that a hardware device corresponding to the control mode is a target hardware device, and generate an acquisition control instruction for controlling the target hardware device to perform data acquisition, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; a second control unit, used to control the target hardware device to acquire environmental data within a predetermined range of the position of the supporting tractor according to the acquisition control instruction; a first generation unit, used to feed back the environmental data to the programmable logic controller, so as to use the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data; and a second control unit, used to control the supporting tractor to travel in the underground coal mine according to the driving control strategy.

[0014] Optionally, the control mode includes at least: a local control mode, a remote control mode, a remote control mode and an automatic control mode, and the determination unit includes: a first determination module, used for determining, when the control mode is the local control mode, that the electro-hydraulic control reversing valve group and the controller in the hardware device are the target hardware devices, wherein the electro-hydraulic control reversing valve group and the controller are both used to control the oil cylinder supporting the tractor; a second determination module, used for determining, when the control mode is the remote control mode, that the remote control in the hardware device is the target hardware device, wherein the remote control is used to send control instructions for the oil cylinder to the controller; a third determination module, used for determining, when the control mode is the remote control mode, that the hardware device is the target hardware device. The pressure sensor, image acquisition device and magnetostrictive sensor in the device are the target hardware devices, wherein the pressure sensor is used to monitor the pressure state of the oil cylinder, the magnetostrictive sensor is used to collect the stroke data information of the oil cylinder, and the image acquisition device is used to collect the video image data of the supporting tractor; the fourth determination module is used to determine that the laser radar sensor, ultrasonic radar sensor, pressure sensor and magnetostrictive sensor in the hardware device are the target hardware devices when the control mode is the automatic control mode, wherein the laser radar sensor is used to collect the terrain and obstacle information in the middle tunnel of the coal mine, and the ultrasonic radar sensor is used to detect the distance between the supporting tractor and the obstacles within the predetermined range.

[0015] Optionally, the second control unit includes: a first sending module, used to send the acquisition control instruction to the edge device through a programmable logic controller, wherein a second communication connection relationship exists between the programmable logic controller and the edge device; a first issuing module, used to issue the received acquisition control instruction to the target hardware device through the edge device, wherein a third communication connection relationship exists between the edge device and each of the hardware devices; a first control module, used to control the target hardware device to collect the environmental data within the predetermined range of the position of the supporting tractor according to the acquisition control instruction issued by the edge device.

[0016] Optionally, the first generation unit includes: a second control module, used to control the target hardware device to send the collected environmental data to the edge device; a first acquisition module, used to use the edge device to preprocess and convert the environmental data to obtain target environmental data; a second acquisition module, used to input the target environmental data into the programmable logic controller, so as to use the programmable logic controller to process the target environmental data to obtain device control instructions for the target hardware device; a determination module, used to determine that the strategy of controlling the target hardware device to perform actions according to the device control instructions to drive the supporting tractor to travel is the driving control strategy.

[0017] Optionally, the intelligent driving control device of the supporting tractor in an underground coal mine also includes: a second sending module, which is used to input the target environment data into the programmable logic controller, process the target environment data using the programmable logic controller, and obtain the device control instructions for the target hardware device, and then use the programmable logic controller to send the device control instructions to the edge device; a second sending module, which is used to use the edge device to send the received device control instructions to the target hardware device, so that the target hardware device performs corresponding actions according to the device control instructions to drive the supporting tractor to travel.

[0018] Optionally, the intelligent driving control device for supporting and tracting vehicles in underground coal mines also includes: a third acquisition module, which is used to obtain the device status of each of the hardware devices by using the edge device after preprocessing and format conversion of the environmental data to obtain the target environmental data; a third sending module, which is used to send the device status to the programmable logic controller through the edge device; and a fourth sending module, which is used to send the target environmental data and the device status to the configuration system through the programmable logic controller, so as to display the target environmental data and the device status using the configuration system.

[0019] Optionally, the intelligent driving control device of the supporting tractor in an underground coal mine also includes: a first acquisition unit, used to acquire the terrain conditions and obstacle information in the tunnels in the underground coal mine through an array laser radar while controlling the supporting tractor to drive in the underground coal mine according to the driving control strategy; a second acquisition unit, used to evaluate the driving path of the supporting tractor according to the terrain conditions and the obstacle information to obtain an evaluation result, wherein the driving path is the path of the supporting tractor when it drives according to the driving control strategy; a second generation unit, used to generate a warning signal when the evaluation result indicates that the terrain condition is an uphill or downhill terrain, and / or the evaluation result indicates that the obstacle is located within the predetermined range of the position of the supporting tractor.

[0020] According to another aspect of an embodiment of the present invention, an intelligent driving control system for a supporting tractor in an underground coal mine is also provided. The intelligent driving control system for a supporting tractor in an underground coal mine uses any of the intelligent driving control methods for a supporting tractor in an underground coal mine as described above.

[0021] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, wherein the computer-readable storage medium includes a stored program, wherein the program executes any one of the above-mentioned intelligent driving control methods for supporting and tractive vehicles in underground coal mines.

[0022] According to another aspect of an embodiment of the present invention, a processor is further provided, wherein the processor is used to run a program, wherein the program executes the above-mentioned intelligent driving control method for a supporting tractor in an underground coal mine when running.

[0023] According to another aspect of an embodiment of the present invention, a computer program product is also provided, comprising computer instructions, which, when executed by a processor, execute any one of the above-mentioned intelligent driving control methods for supporting and tractive vehicles in underground coal mines.

[0024] In an embodiment of the present invention, a control configuration system responds to a mode selection operation of a target object, and determines a control mode for controlling a supporting tractor based on the mode selection operation; a programmable logic controller is used to determine that a hardware device corresponding to the control mode is a target hardware device, and a collection control instruction is generated to control the target hardware device for data collection, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; the target hardware device is controlled to collect environmental data within a predetermined range of the supporting tractor according to the collection control instruction; the environmental data is fed back to the programmable logic controller, so that the programmable logic controller is used to generate a driving control strategy for the supporting tractor according to the environmental data; and the supporting tractor is controlled to travel underground in a coal mine according to the driving control strategy. Through the above technical scheme, it is achieved that the corresponding hardware equipment is controlled through a variety of optional control modes to collect environmental data around the support tractor, and the corresponding driving control strategy is generated based on the collected environmental data, so as to control the support tractor to travel underground in the coal mine according to the strategy, and the technical effect of dynamically planning the travel path of the support tractor by comprehensively monitoring the environment around the support tractor and the driving status of the tractor itself is achieved, which effectively reduces the risk of accidents and collisions, improves the driving safety of the support tractor, and thus solves the technical problem in the related technology that the underground support tractor may have safety hazards due to poor track conditions, narrow space, limited vision and other transportation equipment during its driving in the coal mine. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0026] Figure 1 It is a hardware structure block diagram of a mobile terminal of an intelligent driving control method for supporting a tractor in an underground coal mine according to an embodiment of the present invention;

[0027] Figure 2 is a flow chart of an intelligent driving control method of a supporting tractor in an underground coal mine according to an embodiment of the present invention;

[0028] Figure 3 is a schematic diagram of an intelligent driving control system for a supporting tractor in an underground coal mine according to an embodiment of the present invention;

[0029] Figure 4 is a flow chart of an optional intelligent driving control method of a supporting tractor in an underground coal mine according to an embodiment of the present invention;

[0030] Figure 5 Schematic diagram of an intelligent travel control device for a supporting tractor in an underground coal mine according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0032] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0033] As introduced in the background technology, in the related technology, the underground support tractor may have safety hazards due to poor track conditions, narrow space, limited vision and other transportation equipment when traveling in the coal mine. In view of the above defects, an intelligent driving control method and device for an underground support tractor in a coal mine are provided in an embodiment of the present invention.

[0034] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0035] The method embodiments provided in the embodiments of the present invention can be executed in a mobile terminal, a computer terminal or a similar computing device. Taking running on a mobile terminal as an example, Figure 1 1 is a hardware structure block diagram of a mobile terminal for an intelligent driving control method of a supporting tractor in a coal mine according to an embodiment of the present invention. Figure 1 As shown, the mobile terminal may include one or more ( Figure 1 Only one is shown in the figure) a processor 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data, wherein the mobile terminal may also include a transmission device 106 and an input / output device 108 for communication functions. It can be understood by those skilled in the art that Figure 1The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 1 More or fewer components as shown, or with Figure 1 Different configurations shown.

[0036] The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the intelligent driving control method of the underground support tractor of the coal mine in the embodiment of the present invention. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some examples, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories can be connected to the mobile terminal via a network. Examples of the above-mentioned network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network, and a combination thereof. The transmission device 106 is used to receive or send data via a network. The above-mentioned specific examples of the network may include a wireless network provided by a communication provider of the mobile terminal. In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 may be a radio frequency (RF) module, which is used to communicate with the Internet wirelessly.

[0037] According to an embodiment of the present invention, a method embodiment of an intelligent driving control method for a supporting tractor in an underground coal mine is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and, although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0038] Figure 2 is a flow chart of an intelligent driving control method for a supporting tractor in an underground coal mine according to an embodiment of the present invention. Figure 2 As shown, the method comprises the following steps:

[0039] Step S202: the control configuration system responds to the mode selection operation of the target object, and determines a control mode for controlling the supporting tractor based on the mode selection operation.

[0040] In this embodiment, when the operator performs a mode selection operation through the interactive page, the configuration system can be controlled to respond to the operator's selection operation and determine that the mode selected by the operator is a control mode for controlling the supporting tractor.

[0041] Combine the following Figure 3 and Figure 4 The above embodiments of the present invention are described in detail. Figure 3 is a schematic diagram of an intelligent driving control system for a supporting tractor in a coal mine according to an embodiment of the present invention, Figure 4 It is a flow chart of an optional intelligent driving control method of a supporting tractor in an underground coal mine according to an embodiment of the present invention.

[0042] like Figure 3 As shown, the intelligent driving control system mainly includes: functional modules, application modules and hardware equipment. Figure 3 The transmission logic of data transmission in the intelligent driving control system is also shown, wherein the application module is one of the interfaces for interacting with the user, including different control modes provided by the system to the user or operator, including automatic control mode, remote control mode, local control mode and remote control mode, which allow the user to select the corresponding control mode according to their needs and operating environment to interact with the intelligent driving assistance system of the underground support tractor in the coal mine; the function module involves the functional composition of the edge device, PLC (programmable logic controller, the same below) and the configuration system, and the hardware device is mainly a device that supports the implementation of the related functions of these four control modes; the function module is used to receive the control instructions issued by the operator or user through the application module, and convert it into an operation instruction, and then send it to the corresponding hardware device controller to perform the corresponding action according to the operation instruction. The function module is also used to receive the data fed back by the hardware device, and generate the corresponding control strategy according to the received data to control the hardware device to perform the corresponding action to drive the support tractor to drive safely. The function module can also display the received data on the interface of the configuration system, so that the operator can view the environment around the underground support tractor in the coal mine through the configuration interface, and realize real-time monitoring of the vehicle and its surrounding environment.

[0043] like Figure 4 As shown, the operator can select or switch the control mode of the supporting tractor by interacting with the application module.

[0044] Step S204: using the programmable logic controller to determine that the hardware device corresponding to the control mode is the target hardware device, and generating a collection control instruction for controlling the target hardware device to perform data collection, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller.

[0045] Optionally, the above control modes include at least: local control mode, remote control mode, remote control mode and automatic control mode.

[0046] In this embodiment, as above Figure 3 And Figure 4 As shown, after the operator selects the corresponding control mode, the signal processing module of the PLC in the functional module (the signal processing module is mainly used to process the original data signal and output the command signal) can be used to parse the operation instructions executed by the operator on the application module interface (such as which control mode is selected, or which control mode is switched to), so as to determine that the hardware device corresponding to the selected control mode is the target hardware device, and convert the operation instructions into control instructions, that is, to generate acquisition control instructions for controlling the target hardware device to perform data acquisition; in addition, the PLC also includes an initialization module, which is used for the acquisition of PLC-related sensor data and the initialization of the program system.

[0047] According to the above embodiment of the present invention, in the above step S204, the programmable logic controller is used to determine the hardware device corresponding to the control mode as the target hardware device, including: when the control mode is the local control mode, the electro-hydraulic control reversing valve group and the controller in the hardware device are determined as the target hardware device, wherein the electro-hydraulic control reversing valve group and the controller are both used to control the oil cylinder supporting the tractor; when the control mode is the remote control mode, the remote control in the hardware device is determined as the target hardware device, and the remote control is used to send the control instruction of the oil cylinder to the controller; when the control mode is the remote control mode, the pressure in the hardware device is determined as the target hardware device. Sensors, image acquisition devices and magnetostrictive sensors are target hardware devices, among which the pressure sensor is used to monitor the pressure state of the cylinder, the magnetostrictive sensor is used to collect the stroke data information of the cylinder, and the image acquisition device is used to collect the video image data of the supporting tractor; when the control mode is the automatic control mode, the laser radar sensor, ultrasonic radar sensor, pressure sensor and magnetostrictive sensor in the hardware devices are determined as the target hardware devices, among which the laser radar sensor is used to collect the terrain and obstacle information in the middle tunnel of the coal mine, and the ultrasonic radar sensor is used to detect the distance between the supporting tractor and the obstacles within the predetermined range.

[0048] Optionally, the above-mentioned image acquisition device may include but is not limited to: a camera, a scanner and other devices that can acquire images.

[0049] In the embodiment provided by the present invention, a 360-degree panoramic camera can be used as an image acquisition device to comprehensively collect environmental data around the supporting tractor; a 360-degree panoramic video camera is used to monitor the situation around the supporting tractor in real time in all directions. This panoramic view not only provides a more comprehensive environmental perception, but also provides more intuitive information for the operator, enabling the operator to better understand the situation around the vehicle and make more reasonable decisions.

[0050] Specifically, as above Figure 3 As shown in FIG. 1 , the corresponding relationship between the hardware equipment and the control mode of the system is as follows: 1) On-site control mode: the movable cylinder of the entire fuselage can be controlled by the electro-hydraulic control reversing valve group or the controller to realize the extension and retraction or left and right deviation of the cylinder; 2) Remote control mode: the relevant cylinder control instructions are executed by the remote control, and the remote control is wirelessly connected to the controller on the fuselage, that is, the remote control command signal is sent to the controller on the fuselage to realize the output of the command signal to control the extension and retraction or left and right deviation of the cylinder; 3) Remote control mode: the remote end can monitor the intelligent driving environment of the underground support tractor of the coal mine machine through the 360-degree panoramic camera installed on the fuselage, and the travel data information of each cylinder can be observed in real time by reading the magnetostrictive sensor, and the pressure sensor is used to monitor the pressure data information of the cylinder; 4) Automatic control mode: the pressure sensor is used to monitor the pressure data information of the cylinder, the lidar sensor is used for environmental perception, the IMU sensor embedded in the lidar device is used for terrain detection, the ultrasonic radar sensor is used for obstacle avoidance (deviation perception), and the magnetostrictive sensor is used to monitor the travel data information of each cylinder to plan control decisions.

[0051] Step S206, controlling the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction.

[0052] As above Figure 4 As shown, the target hardware device can be controlled to collect environmental data around the supporting tractor according to the collection control instructions. The predetermined range here can be determined according to the actual situation. For example, the environmental data can be collected in an area within a few meters of the supporting tractor.

[0053] According to the above embodiment of the present invention, in the above step S206, the target hardware device is controlled to collect environmental data within a predetermined range of the position supporting the tractor according to the collection control instruction, including: sending the collection control instruction to the edge device through the programmable logic controller, wherein a second communication connection relationship exists between the programmable logic controller and the edge device; sending the received collection control instruction to the target hardware device through the edge device, wherein a third communication connection relationship exists between the edge device and each hardware device; controlling the target hardware device to collect environmental data within a predetermined range of the position supporting the tractor according to the collection control instruction issued by the edge device.

[0054] Specifically, after the PLC generates an acquisition control instruction to control the target hardware device to perform data acquisition, it will first send the acquisition control instruction to the edge device, and then the edge device will send it to the corresponding target hardware device to control the target hardware device to collect environmental data around the supporting tractor according to the acquisition control instruction.

[0055] Step S208, feeding back the environmental data to the programmable logic controller, so that the programmable logic controller can generate a driving control strategy for the supporting tractor according to the environmental data.

[0056] In this embodiment, after collecting data about the surrounding environment of the supporting tractor, the target hardware device may feed back the collected environmental data to the PLC, so that the PLC can generate a driving control strategy for the supporting tractor according to the received environmental data.

[0057] According to the above embodiment of the present invention, in the above step S208, the environmental data is fed back to the programmable logic controller, so that the programmable logic controller is used to generate a driving control strategy for the supporting tractor according to the environmental data, including: controlling the target hardware device to send the collected environmental data to the edge device; using the edge device to preprocess and convert the environmental data to obtain target environmental data; inputting the target environmental data into the programmable logic controller, so that the programmable logic controller is used to process the target environmental data to obtain device control instructions for the target hardware device; determining that the strategy of controlling the target hardware device to perform actions according to the device control instructions to drive the supporting tractor to travel is the driving control strategy.

[0058] Specifically, after completing data collection, the target hardware device will first send the collected environmental data to the edge device. The edge device will pre-process the received environmental data and then send it to the PLC. The PLC will receive the target environmental data (pre-processed environmental data) to generate device control instructions for controlling the target hardware device. Controlling the target hardware device to perform actions according to the device control instructions to drive the supporting tractor to travel is the driving control strategy for the supporting tractor.

[0059] In an optional embodiment of the present invention, after the target environment data is input into the programmable logic controller, and the programmable logic controller is used to process the target environment data to obtain the equipment control instructions for the target hardware device, the intelligent driving control method of the underground coal mine support tractor also includes: using the programmable logic controller to send the equipment control instructions to the edge device; using the edge device to send the received equipment control instructions to the target hardware device, so that the target hardware device performs corresponding actions according to the equipment control instructions to drive the support tractor to travel.

[0060] Specifically, the configuration system of the functional module includes: an initialization module, a data display module and a signal processing module; the initialization module is used to realize the startup of the entire configuration system; the data display module is used to connect the video signal and display it to the relevant area of ​​the configuration interface so that the remote operator can view the overall surrounding environment of the fuselage, and display the stroke data of each cylinder so that the operator can understand the extension / offset status of the cylinder in real time during remote control. The status of all equipment sensors is displayed so that when the equipment has an abnormality, it can be known in time. It also includes four control mode switching buttons. In addition, the configuration interface will have the function of controlling the cylinder to be triggered by clicking, so as to realize clicking the relevant cylinder control button on the configuration interface to control the cylinder to perform the corresponding action; the signal processing module is used to realize the control mode switching and the issuance of relevant control instructions under the remote control mode.

[0061] In another optional embodiment of the present invention, after using the edge device to preprocess and format convert the environmental data to obtain the target environmental data, the intelligent driving control method of the coal mine underground support tractor also includes: using the edge device to obtain the device status of each hardware device; sending the device status to the programmable logic controller through the edge device; sending the target environmental data and device status to the configuration system through the programmable logic controller, so as to use the configuration system to display the target environmental data and device status.

[0062] Step S210: Control the supporting tractor to travel underground in the coal mine according to the travel control strategy.

[0063] In this embodiment, the supporting tractor can be controlled to travel underground in the coal mine according to the travel control strategy obtained in the above steps.

[0064] In another optional embodiment of the present invention, the intelligent driving control method of the supporting tractor in an underground coal mine also includes: in the process of controlling the supporting tractor to drive in the underground coal mine according to the driving control strategy, obtaining the terrain conditions and obstacle information in the tunnels in the underground coal mine by means of an array laser radar; evaluating the driving path of the supporting tractor according to the terrain conditions and obstacle information to obtain an evaluation result, wherein the driving path is the path of the supporting tractor when it drives according to the driving control strategy; generating a warning signal when the evaluation result indicates that the terrain condition is an uphill or downhill terrain, and / or the evaluation result indicates that the obstacle is located within a predetermined range of the position of the supporting tractor.

[0065] In this embodiment, the edge device in the functional module can be used to issue an early warning when the supporting tractor encounters obstacles and dangerous areas during driving; the edge device specifically includes the following modules: 1) Initialization module: used to start and initialize the edge device program to ensure that all parameters and states of the device are correctly set before starting operation; 2) Body correction perception module: to realize obstacle detection and driving path planning, to perform real-time analysis and evaluation of the driving path of the supporting tractor, and to adjust the direction of the body to avoid obstacles; 3) Planning algorithm module: based on sensor data, use intelligent algorithms for path planning to ensure that the tractor travels safely along the established path; 4) Signal processing module: to detect obstacles and plan driving paths, to analyze and evaluate the driving path of the supporting tractor in real time, and to adjust the direction of the body to avoid obstacles; 5) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 6) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 7) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 8) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 9) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 10) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 11) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 12) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 13) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 14) Signal processing module: to detect obstacles and plan driving paths, to ensure that the tractor can travel safely along the established path; 15) Signal Signal processing module: responsible for processing the original data signal, converting or enhancing the signal for use by subsequent modules, and generating command signals that can be executed by the controller; 5) Belt deviation sensing module: detects whether the belt is operating normally. If the belt deviation is detected, it provides information for the system to take corresponding measures to ensure the stability and safety of material transportation; 6) Control algorithm module: based on the information provided by the body correction sensing module, planning algorithm module, etc., it generates control instructions, coordinates the actions of the tractor, and realizes safe and accurate driving in automatic control mode; these modules work together in the edge equipment to realize the functions of the automatic control mode in this intelligent driving control.

[0066] Specifically, firstly, the real-time data collected by the array laser radar can be used to analyze the contour of the tunnel. The overall contour of the tunnel can be filtered in fixed places such as the tunnel area and the belt side area according to the prior knowledge of the length, width and height of the tunnel by combining the point cloud processing technology OBB fitting, so as to obtain the point cloud data of the activity area inside the tunnel; then the point cloud clustering technology is combined to cluster the point cloud data inside the activity, and the obstacle area is determined in combination with the driving path of the supporting tractor. When the set clustering area is reached and it is determined to be an obstacle within a certain distance of the driving area, an alarm is issued; for terrain recognition, the IMU sensor embedded in the laser radar is combined to perform real-time attitude analysis, and the terrain the fuselage is currently in is determined according to its real-time attitude angle. For flat terrain, the XY plane angle is basically 0; the XY plane of uphill terrain is tilted upward; otherwise, it is tilted downward.

[0067] Then, based on the three-dimensional perception data, an intelligent algorithm is used to implement the fuselage correction perception module to perform real-time analysis and evaluation of the driving path of the support tractor; the driving path is achieved by real-time perception of the belt side target and making the center line of the entire fuselage parallel to the nearest edge of the belt at a fixed distance is the center point of the driving path of the entire fuselage. Once potential obstacles or dangerous areas are detected near the driving path, the system will immediately issue a warning signal to provide the operator with sufficient time and information to take avoidance measures to ensure the safe driving of the support tractor.

[0068] Real-time data such as three-dimensional perception data, warning information and panoramic video can also be displayed directly to operators in a visual way. This can help operators understand the current status of the vehicle and the surrounding environment more quickly and accurately through the system visualization interface, thereby improving operational efficiency.

[0069] In addition, as above Figure 3 As shown in the figure, the roles played by each part in the intelligent driving control system in data transmission are as follows: 1) PLC: mainly responsible for reading the displacement sensor data, and sending the relevant perception-related control command signals to the controller, and forwarding some equipment status information; 2) Configuration system: receiving the travel data and equipment status signals on the PLC, obtaining the real-time video data of the camera; outputting control commands to the PLC; 3) Edge device: receiving the travel data and control mode signals on the PLC, obtaining the data of the laser radar sensor and the ultrasonic radar sensor; outputting the equipment status signals and control commands to the PLC.

[0070] As can be seen from the above, through the technical solution provided by the above embodiment of the present invention, the configuration system can be controlled to respond to the mode selection operation of the target object, and the control mode for controlling the supporting tractor can be determined based on the mode selection operation; the hardware device corresponding to the control mode is determined as the target hardware device by using the programmable logic controller, and a collection control instruction for controlling the target hardware device to collect data is generated, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; the target hardware device is controlled to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction; the environmental data is fed back to the programmable logic controller, so that the programmable logic controller is used to generate a driving control strategy for the supporting tractor according to the environmental data; the supporting tractor is controlled to travel underground in the coal mine according to the driving control strategy, so as to achieve the purpose of controlling the corresponding hardware devices to collect environmental data around the supporting tractor through a plurality of optional control modes, and generating a corresponding driving control strategy based on the collected environmental data, so as to control the supporting tractor to travel underground in the coal mine according to the strategy, and the technical effect of dynamically planning the travel path of the supporting tractor by comprehensively monitoring the environment around the supporting tractor and the driving state of the tractor itself is achieved, which effectively reduces the risk of accidents and collisions and improves the driving safety of the supporting tractor.

[0071] Therefore, the technical solution provided by the above-mentioned embodiment of the present invention solves the technical problem in the related technology that the underground support tractor may have safety hazards due to poor track conditions, narrow space, limited vision and other transportation equipment during driving in the coal mine.

[0072] It should be noted that, for the aforementioned method embodiments, for the sake of simplicity, they are all expressed as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0073] Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in each embodiment of the present application.

[0074] According to an embodiment of the present invention, there is also provided an intelligent travel control device for a supporting tractor in an underground coal mine for implementing the intelligent travel control method for the supporting tractor in an underground coal mine. Figure 5 is a schematic diagram of an intelligent travel control device for supporting and tracting vehicles in underground coal mines according to an embodiment of the present invention, such as Figure 5 As shown, the device includes: a first control unit 51, a determination unit 53, a second control unit 55, a first generation unit 57 and a second control unit 59. The intelligent driving control device for supporting and tractor vehicles in underground coal mines is described in detail below.

[0075] The first control unit 51 is used to control the configuration system to respond to the mode selection operation of the target object, and determine the control mode for controlling the supporting tractor based on the mode selection operation.

[0076] The determination unit 53 is used to use the programmable logic controller to determine that the hardware device corresponding to the control mode is the target hardware device, and generate an acquisition control instruction for controlling the target hardware device to perform data acquisition, wherein there is a first communication connection relationship between the configuration system and the programmable logic controller.

[0077] The second control unit 55 is used to control the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction.

[0078] The first generating unit 57 is used to feed back the environmental data to the programmable logic controller, so as to utilize the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data.

[0079] The second control unit 59 is used to control the supporting tractor to travel underground in the coal mine according to the travel control strategy.

[0080] It should be noted here that the above-mentioned first control unit 51, determination unit 53, second control unit 55, first generation unit 57 and second control unit 59 correspond to steps S202 to S210 in the above-mentioned embodiments, and the five units have the same instances and application scenarios implemented by the corresponding steps, but are not limited to the contents disclosed in the above-mentioned embodiments.

[0081] As can be seen from the above, in the scheme recorded in the above embodiment of the present invention, the first control unit can be used to control the configuration system to respond to the mode selection operation of the target object, and determine the control mode for controlling the supporting tractor based on the mode selection operation; the determination unit uses the programmable logic controller to determine that the hardware device corresponding to the control mode is the target hardware device, and generates an acquisition control instruction for controlling the target hardware device to perform data acquisition, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; the second control unit controls the target hardware device to collect environmental data within a predetermined range of the supporting tractor according to the acquisition control instruction; the first generation unit feeds back the environmental data to the programmable logic controller A controller is used to utilize a programmable logic controller to generate a driving control strategy for the supporting tractor according to environmental data; the second control unit controls the supporting tractor to travel underground in the coal mine according to the driving control strategy, thereby achieving the purpose of controlling the corresponding hardware equipment to collect environmental data around the supporting tractor through a variety of optional control modes, and generating a corresponding driving control strategy based on the collected environmental data, so as to control the supporting tractor to travel underground in the coal mine according to the strategy, and realizing the technical effect of dynamically planning the travel path of the supporting tractor by comprehensively monitoring the environment around the supporting tractor and the driving status of the tractor itself, thereby effectively reducing the risk of accidents and collisions and improving the driving safety of the supporting tractor.

[0082] Therefore, the technical solution provided by the above-mentioned embodiment of the present invention solves the technical problem in the related technology that the underground support tractor may have safety hazards due to poor track conditions, narrow space, limited vision and other transportation equipment during driving in the coal mine.

[0083] Optionally, the control mode includes at least: local control mode, remote control mode, remote control mode and automatic control mode, and the determination unit includes: a first determination module, which is used to determine that the electro-hydraulic control reversing valve group and the controller in the hardware device are target hardware devices when the control mode is the local control mode, wherein the electro-hydraulic control reversing valve group and the controller are both used to control the oil cylinder supporting the tractor; a second determination module, which is used to determine that the remote control in the hardware device is the target hardware device when the control mode is the remote control mode, and the remote control is used to send control instructions for the oil cylinder to the controller; a third determination module, which is used to determine that the hardware device is the target hardware device when the control mode is the remote control mode. The pressure sensor, image acquisition device and magnetostrictive sensor in the preparation are target hardware devices, among which the pressure sensor is used to monitor the pressure state of the oil cylinder, the magnetostrictive sensor is used to collect the stroke data information of the oil cylinder, and the image acquisition device is used to collect the video image data of the supporting tractor; the fourth determination module is used to determine that the laser radar sensor, ultrasonic radar sensor, pressure sensor and magnetostrictive sensor in the hardware equipment are target hardware devices when the control mode is the automatic control mode, among which the laser radar sensor is used to collect the terrain and obstacle information in the middle tunnel of the coal mine, and the ultrasonic radar sensor is used to detect the distance between the supporting tractor and the obstacles within the predetermined range.

[0084] Optionally, the second control unit includes: a first sending module, used to send the collection control instructions to the edge device through the programmable logic controller, wherein a second communication connection relationship exists between the programmable logic controller and the edge device; a first sending module, used to send the received collection control instructions to the target hardware device through the edge device, wherein a third communication connection relationship exists between the edge device and each hardware device; a first control module, used to control the target hardware device to collect environmental data within a predetermined range of the support tractor's location according to the collection control instructions sent by the edge device.

[0085] Optionally, the first generation unit includes: a second control module, used to control the target hardware device to send the collected environmental data to the edge device; a first acquisition module, used to use the edge device to preprocess and convert the environmental data to obtain target environmental data; a second acquisition module, used to input the target environmental data into a programmable logic controller, so as to process the target environmental data using the programmable logic controller to obtain device control instructions for the target hardware device; a determination module, used to determine that the strategy of controlling the target hardware device to perform actions according to the device control instructions to drive the supporting tractor to travel is the driving control strategy.

[0086] Optionally, the intelligent driving control device of the supporting tractor in underground coal mines also includes: a second sending module, which is used to input the target environment data into the programmable logic controller, process the target environment data using the programmable logic controller, obtain the device control instructions for the target hardware device, and then send the device control instructions to the edge device using the programmable logic controller; a second sending module, which is used to send the received device control instructions to the target hardware device using the edge device, so that the target hardware device performs corresponding actions according to the device control instructions to drive the supporting tractor to travel.

[0087] Optionally, the intelligent driving control device for supporting and tracting vehicles in underground coal mines also includes: a third acquisition module, which is used to obtain the device status of each hardware device by using the edge device after preprocessing and format conversion of environmental data by using the edge device to obtain the target environmental data; a third sending module, which is used to send the device status to the programmable logic controller through the edge device; and a fourth sending module, which is used to send the target environmental data and device status to the configuration system through the programmable logic controller, so as to display the target environmental data and device status by using the configuration system.

[0088] Optionally, the intelligent driving control device of the supporting tractor in an underground coal mine also includes: a first acquisition unit, which is used to acquire terrain conditions and obstacle information in the tunnels in the underground coal mine through an array laser radar when the supporting tractor is controlled to travel in the underground coal mine according to a driving control strategy; a second acquisition unit, which is used to evaluate the driving path of the supporting tractor according to the terrain conditions and obstacle information to obtain an evaluation result, wherein the driving path is the path of the supporting tractor when it travels according to the driving control strategy; a second generation unit, which is used to generate a warning signal when the evaluation result indicates that the terrain condition is an uphill or downhill terrain, and / or the evaluation result indicates that the obstacle is located within a predetermined range of the position of the supporting tractor.

[0089] According to another aspect of an embodiment of the present invention, an intelligent driving control system for a supporting tractor in an underground coal mine is also provided. The intelligent driving control system for a supporting tractor in an underground coal mine uses any of the above-mentioned intelligent driving control methods for a supporting tractor in an underground coal mine.

[0090] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is further provided, the computer-readable storage medium comprising a stored program, wherein the program executes any one of the above-mentioned intelligent driving control methods for a supporting tractor in an underground coal mine.

[0091] Optionally, in this embodiment, the computer-readable storage medium may be located in any one of the computer terminals in a computer terminal group in a computer network, or in any one of the communication devices in a communication device group.

[0092] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: controlling the configuration system to respond to a mode selection operation of a target object, and determining a control mode for controlling the supporting tractor based on the mode selection operation; using a programmable logic controller to determine a hardware device corresponding to the control mode as a target hardware device, and generating an acquisition control instruction for controlling the target hardware device to perform data acquisition, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; controlling the target hardware device to acquire environmental data within a predetermined range of the supporting tractor's location according to the acquisition control instruction; feeding back the environmental data to the programmable logic controller, so as to use the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data; and controlling the supporting tractor to travel underground in a coal mine according to the driving control strategy.

[0093] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: when the control mode is a local control mode, the electro-hydraulic control reversing valve group and the controller in the hardware device are determined as target hardware devices, wherein the electro-hydraulic control reversing valve group and the controller are both used to control the oil cylinder supporting the tractor; when the control mode is a remote control mode, the remote control in the hardware device is determined as the target hardware device, and the remote control is used to send control instructions for the oil cylinder to the controller; when the control mode is a remote control mode, the pressure sensor, the image acquisition device and the magnetostrictive sensor in the hardware device are determined as target hardware devices, wherein the pressure sensor is used to monitor the pressure state of the oil cylinder, the magnetostrictive sensor is used to collect stroke data information of the oil cylinder, and the image acquisition device is used to collect video image data of the supporting tractor; when the control mode is an automatic control mode, the laser radar sensor, the ultrasonic radar sensor, the pressure sensor and the magnetostrictive sensor in the hardware device are determined as target hardware devices, wherein the laser radar sensor is used to collect terrain and obstacle information in the middle tunnel of the coal mine, and the ultrasonic radar sensor is used to detect the distance between the supporting tractor and obstacles within a predetermined range.

[0094] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: sending an acquisition control instruction to an edge device through a programmable logic controller, wherein a second communication connection relationship exists between the programmable logic controller and the edge device; sending the received acquisition control instruction to a target hardware device through the edge device, wherein a third communication connection relationship exists between the edge device and each hardware device; and controlling the target hardware device to collect environmental data within a predetermined range of the support tractor's location according to the acquisition control instruction sent by the edge device.

[0095] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: controlling the target hardware device to send the collected environmental data to the edge device; using the edge device to preprocess and format the environmental data to obtain target environmental data; inputting the target environmental data into a programmable logic controller to process the target environmental data using the programmable logic controller to obtain device control instructions for the target hardware device; determining that the strategy of controlling the target hardware device to perform actions according to the device control instructions to drive the supporting tractor to travel is the driving control strategy.

[0096] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: using a programmable logic controller to send device control instructions to an edge device; using the edge device to send the received device control instructions to a target hardware device, so that the target hardware device performs corresponding actions according to the device control instructions to drive the support tractor to travel.

[0097] Optionally, in this embodiment, the computer-readable storage medium is configured to store program code for executing the following steps: using an edge device to obtain the device status of each hardware device; sending the device status to a programmable logic controller through the edge device; sending the target environment data and device status to a configuration system through the programmable logic controller, so as to display the target environment data and device status using the configuration system.

[0098] Optionally, in this embodiment, the computer-readable storage medium is configured to store program codes for executing the following steps: in the process of controlling the support tractor to travel underground in a coal mine according to a driving control strategy, obtaining terrain conditions and obstacle information in the tunnels underground in the coal mine through an array laser radar; evaluating the driving path of the support tractor according to the terrain conditions and obstacle information to obtain an evaluation result, wherein the driving path is the path of the support tractor when it travels according to the driving control strategy; generating a warning signal when the evaluation result indicates that the terrain condition is an uphill or downhill terrain, and / or the evaluation result indicates that the obstacle is located within a predetermined range of the position of the support tractor.

[0099] According to another aspect of an embodiment of the present invention, a processor is further provided, and the processor is used to run a program, wherein when the program is run, the above-mentioned intelligent driving control method of a supporting tractor in an underground coal mine is executed.

[0100] According to another aspect of an embodiment of the present invention, a computer program product is also provided, comprising computer instructions, which, when executed by a processor, execute any one of the above-mentioned intelligent driving control methods for a supporting tractor in an underground coal mine.

[0101] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0102] In the above embodiments of the present invention, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0103] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0104] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0105] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0106] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0107] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An intelligent driving control method for a supporting tractor in a coal mine, characterized in that: include: The control configuration system responds to the mode selection operation of the target object and determines a control mode for controlling the supporting tractor based on the mode selection operation; Using a programmable logic controller to determine that a hardware device corresponding to the control mode is a target hardware device, and to generate an acquisition control instruction for controlling the target hardware device to perform data acquisition, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; Control the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction; Feeding back the environmental data to the programmable logic controller, so as to use the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data; The supporting tractor is controlled to travel underground in a coal mine according to the travel control strategy.

2. The intelligent driving control method of the supporting tractor in an underground coal mine according to claim 1 is characterized in that: The control modes include at least: local control mode, remote control mode, long-distance control mode and automatic control mode, and the hardware device corresponding to the control mode is determined as the target hardware device by using a programmable logic controller, including: In the case where the control mode is the local control mode, determining the electro-hydraulic control reversing valve group and the controller in the hardware device as the target hardware device, wherein the electro-hydraulic control reversing valve group and the controller are both used to control the oil cylinder supporting the tractor; In the case where the control mode is the remote controller control mode, determining the remote controller in the hardware device as the target hardware device, the remote controller being used to send a control instruction for the oil cylinder to the controller; In the case where the control mode is the remote control mode, the pressure sensor, the image acquisition device and the magnetostrictive sensor in the hardware device are determined as the target hardware device, wherein the pressure sensor is used to monitor the pressure state of the oil cylinder, the magnetostrictive sensor is used to collect the stroke data information of the oil cylinder, and the image acquisition device is used to collect the video image data of the supporting tractor; When the control mode is the automatic control mode, the laser radar sensor, the ultrasonic radar sensor, the pressure sensor and the magnetostrictive sensor in the hardware equipment are determined as the target hardware equipment, wherein the laser radar sensor is used to collect terrain and obstacle information in the underground tunnel of the coal mine, and the ultrasonic radar sensor is used to detect the distance between the supporting tractor and the obstacles within the predetermined range.

3. The intelligent driving control method of the supporting tractor in an underground coal mine according to claim 1, characterized in that: Controlling the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction includes: The acquisition control instruction is sent to the edge device through a programmable logic controller, wherein a second communication connection relationship exists between the programmable logic controller and the edge device; The received acquisition control instruction is sent to the target hardware device through the edge device, wherein a third communication connection relationship exists between the edge device and each of the hardware devices; Control the target hardware device to collect the environmental data within the predetermined range of the position of the supporting tractor according to the collection control instruction issued by the edge device.

4. The intelligent driving control method of the supporting tractor in an underground coal mine according to claim 1, characterized in that: Feeding back the environmental data to the programmable logic controller, so as to use the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data, comprising: Controlling the target hardware device to send the collected environmental data to the edge device; Preprocessing and formatting the environmental data using the edge device to obtain target environmental data; Inputting the target environment data into the programmable logic controller, so as to process the target environment data by using the programmable logic controller to obtain a device control instruction for the target hardware device; A strategy of controlling the target hardware device to execute an action according to the device control instruction to drive the supporting tractor to travel is determined as the travel control strategy.

5. The intelligent driving control method of the supporting tractor in an underground coal mine according to claim 4, characterized in that: After the target environment data is input into the programmable logic controller so as to process the target environment data by the programmable logic controller to obtain a device control instruction for the target hardware device, the method further includes: Using the programmable logic controller to send the device control instruction to the edge device; The edge device is used to send the received device control instruction to the target hardware device, so that the target hardware device performs corresponding actions according to the device control instruction to drive the supporting tractor to travel.

6. The intelligent driving control method of the supporting tractor in an underground coal mine according to claim 4, characterized in that: After the environment data is preprocessed and formatted using the edge device to obtain the target environment data, the method further includes: Using the edge device to obtain the device status of each of the hardware devices; Sending the device status to the programmable logic controller via the edge device; The target environment data and the device status are sent to the configuration system through the programmable logic controller, so that the target environment data and the device status are displayed by using the configuration system.

7. The intelligent driving control method of the supporting tractor in an underground coal mine according to claim 1, characterized in that: Also includes: In the process of controlling the supporting tractor to travel in the coal mine according to the travel control strategy, obtaining terrain conditions and obstacle information in the tunnel in the coal mine by means of an array laser radar; Evaluating the driving path of the supporting tractor according to the terrain condition and the obstacle information to obtain an evaluation result, wherein the driving path is the path of the supporting tractor when it drives according to the driving control strategy; When the evaluation result indicates that the terrain condition is an uphill or downhill terrain, and / or the evaluation result indicates that an obstacle is located within the predetermined range of the position of the supporting tractor, a warning signal is generated.

8. An intelligent driving control device for supporting and tractor vehicles in coal mines, characterized in that: include: a first control unit, configured to control the configuration system to respond to a mode selection operation of the target object, and to determine a control mode for controlling the supporting tractor based on the mode selection operation; A determination unit, used to determine, using a programmable logic controller, that a hardware device corresponding to the control mode is a target hardware device, and generate an acquisition control instruction for controlling the target hardware device to perform data acquisition, wherein a first communication connection relationship exists between the configuration system and the programmable logic controller; A second control unit, used for controlling the target hardware device to collect environmental data within a predetermined range of the position of the supporting tractor according to the collection control instruction; a first generating unit, configured to feed back the environmental data to the programmable logic controller, so as to utilize the programmable logic controller to generate a driving control strategy for the supporting tractor according to the environmental data; The second control unit is used to control the supporting tractor to travel underground in the coal mine according to the travel control strategy.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the intelligent driving control method for the supporting tractor in an underground coal mine as described in any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, the intelligent driving control method for the supporting tractor in an underground coal mine as described in any one of claims 1 to 7 is executed.

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