Hydraulic support electrohydraulic control system and control method and control device thereof

Abstract

The invention provides an electro-hydraulic control system of a hydraulic support and a control method and device of the electro-hydraulic control system. The working equipment at least comprises one or more of a camera, a sensor and a driver; and the control unit is located in the hydraulic support, the control unit is in communication connection with the hydraulic support and the working equipment, and the control unit is used for adjusting the transmission rate of the working equipment according to the current state of the hydraulic support. According to the scheme, the problem that in the prior art, transmission efficiency of data transmission of an existing hydraulic support wireless communication system is not high is solved.

Description

Technical Field

[0001] The present application relates to the field of wireless communications, and in particular, to a hydraulic support electro-hydraulic control system, a control method for a hydraulic support electro-hydraulic control system, a control device for a hydraulic support electro-hydraulic control system, and a computer program product. Background Art

[0002] Existing hydraulic support control systems generally have wireless communication functions, which are mainly used in three working scenarios. The first is to remotely control the support action and view the sensor information connected to the support; the second is to use the wireless function to realize the relative distance perception and positioning between personnel and equipment, realize the safe control of the support control system, and protect the safety of personnel. The third is to build a wireless communication link as a redundant channel for communication between support controllers to ensure the reliable execution of the control system.

[0003] However, the transmission efficiency of data transmission in existing hydraulic support wireless communication systems is not high. Summary of the invention

[0004] The main purpose of this application is to provide a hydraulic support electro-hydraulic control system, a control method for a hydraulic support electro-hydraulic control system, a control device for a hydraulic support electro-hydraulic control system and a computer program product, so as to at least solve the problem of low transmission efficiency of data transmission in the existing hydraulic support wireless communication system in the prior art.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a hydraulic support electro-hydraulic control system is provided, comprising: a hydraulic support; a working equipment, wherein the working equipment comprises at least one or more of a camera, a sensor and a driver; a control unit located in the hydraulic support, the control unit being communicatively connected with the hydraulic support and the working equipment respectively, and the control unit being used to adjust the transmission rate of the working equipment according to the current state of the hydraulic support.

[0006] Optionally, the control unit includes: a first 5G controller located in a first hydraulic support; a second 5G controller located in a second hydraulic support, wherein beamforming technology is used to align the first 5G controller and the second 5G controller.

[0007] Optionally, the control unit includes: an MCU, at least used to control the operation of the hydraulic support and the working equipment; a 5G module, communicatively connected to the MCU, and the 5G module is used to connect to a 5G network; a power management module, communicatively connected to the MCU, and the power management module is used to detect the communication status between various components inside the control unit; a power supply module, communicatively connected to the MCU, and the power supply module is used to supply power to various components inside the control unit; a keyboard panel, communicatively connected to the MCU, and the keyboard panel is used to provide keys; an I / O interface, communicatively connected to the MCU, and the I / O interface is used to provide an interface connecting the hydraulic support and the working equipment; an analog-to-digital conversion module, communicatively connected to the MCU, and the analog-to-digital conversion module is used to realize conversion between analog signals and digital signals.

[0008] Optionally, the housing of the control unit is a metal housing, and a penetrable organic material is used on the basis of the metal housing.

[0009] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a control method of a hydraulic support electro-hydraulic control system is provided, comprising: acquiring the current state of the hydraulic support; and adjusting the transmission rate of the working equipment according to the current state of the hydraulic support.

[0010] Optionally, the transmission rate of the working equipment is adjusted according to the current state of the hydraulic support, including: when the current state of the hydraulic support is a working state, increasing the transmission rate of the working equipment; when the current state of the hydraulic support is a non-working state, reducing the transmission rate of the working equipment.

[0011] Optionally, the working equipment includes the camera, the sensor and the driver, and the transmission rate of the working equipment is adjusted according to the current state of the hydraulic support, including: when the current state of the hydraulic support is the working state, increasing the first transmission power of the camera; when the current state of the hydraulic support is the working state, reducing the second transmission power of the sensor; when the current state of the hydraulic support is the working state, increasing the third transmission power of the driver.

[0012] Optionally, the working equipment includes the camera, the sensor and the driver, and the transmission rate of the working equipment is adjusted according to the current state of the hydraulic support, including: when the current state of the hydraulic support is a non-working state, reducing the first transmission power of the camera; when the current state of the hydraulic support is the non-working state, increasing the second transmission power of the sensor; when the current state of the hydraulic support is the non-working state, reducing the third transmission power of the driver.

[0013] According to another aspect of the present application, a control device for an electro-hydraulic control system of a hydraulic support is provided, the device comprising: an acquisition unit for acquiring a current state of the hydraulic support; and an adjustment unit for adjusting a transmission rate of the working equipment according to the current state of the hydraulic support.

[0014] According to another aspect of the present application, a computer program product is provided, comprising a computer program, wherein when the computer program is executed by a processor, the steps of any one of the control methods of the hydraulic support electro-hydraulic control system are implemented.

[0015] By applying the technical solution of the present application, the communication power (i.e., transmission rate) of the working equipment can be comprehensively adjusted according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground and further improving the transmission efficiency of data transmission of the hydraulic support wireless communication system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The drawings constituting part of the present application are used to provide a further understanding of the present application. The exemplary embodiments and descriptions of the present application are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0017] Figure 1 A partial structural schematic diagram of the hydraulic support electro-hydraulic control system is shown;

[0018] Figure 2 A schematic diagram of 5G signal beam alignment is shown;

[0019] Figure 3 A partial structural schematic diagram of a control unit is shown;

[0020] Figure 4 A schematic diagram showing the connection of multiple hydraulic support electro-hydraulic control systems;

[0021] Figure 5 A schematic diagram showing the network communication of the hydraulic support electro-hydraulic control system;

[0022] Figure 6 A hardware structure block diagram of a mobile terminal for executing a control method of an electro-hydraulic control system of a hydraulic support provided in an embodiment of the present application is shown;

[0023] Figure 7 A schematic flow chart of a control method of an electro-hydraulic control system of a hydraulic support provided in accordance with an embodiment of the present application is shown;

[0024] Figure 8 A schematic diagram showing the switching of working modes is shown;

[0025] Fig. 9 A structural block diagram of a control device of an electro-hydraulic control system of a hydraulic support provided according to an embodiment of the present application is shown.

[0026] The above drawings include the following reference numerals:

[0027] 102. Processor; 104. Memory; 106. Transmission device; 108. Input / output device; 10. Hydraulic support; 11. Working equipment; 12. Control unit; 13. First 5G controller; 14. First hydraulic support; 15. Second 5G controller; 16. Second hydraulic support; 17. MCU; 18. 5G module; 19. Power management module; 20. Power supply module; 21. Keyboard; 22. I / O interface; 23. Analog-to-digital conversion module; 24. Housing; 25. Organic material. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0030] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0031] The disadvantage of the existing technical solution is that the existing coal mine working face 5G support control system usually connects the 5G conversion communication equipment installed on the hydraulic support to the controller electrically, and the 5G conversion communication equipment sends data information to the 5G base station in the working face. These additional communication devices bring greater power supply pressure to the hydraulic support system, and the support needs to set up more communication and power supply cables, which increases the installation cost and brings more failure risks.

[0032] In the existing technology, most working face hydraulic maintenance of 5G communication requires additional 5G communication conversion equipment and 5G CPE on the support, which is not enough for the safety limit of 24W of the intrinsically safe power supply energy in the mine. And setting up such a system also requires setting up additional power supply cables between the 5G equipment and the hydraulic support system, which will increase the system cost, increase the system nodes and thus increase its operation failure rate.

[0033] As introduced in the background technology, there is a problem in the prior art that the data transmission efficiency of the existing hydraulic support wireless communication system is low. In order to solve the above problem, the embodiments of the present application provide a hydraulic support electro-hydraulic control system, a control method for a hydraulic support electro-hydraulic control system, a control device for a hydraulic support electro-hydraulic control system and a computer program product.

[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 present application provides a hydraulic support electro-hydraulic control system, such as Figure 1 As shown, including:

[0036] Hydraulic support 10;

[0037] Working equipment 11, wherein the working equipment at least includes one or more of a camera, a sensor and a driver;

[0038] The control unit 12 is located in the hydraulic support. The control unit is respectively connected to the hydraulic support and the working equipment for communication. The control unit is used to adjust the transmission rate of the working equipment according to the current state of the hydraulic support.

[0039] Through this embodiment, the communication power (i.e., transmission rate) of the working equipment can be comprehensively adjusted according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground, thereby improving the transmission efficiency of data transmission of the hydraulic support wireless communication system.

[0040] In a specific solution, the control unit includes a first 5G controller and a second 5G controller, such as Figure 2 As shown, the first 5G controller 13 is located in the first hydraulic support 14; the second 5G controller 15 is located in the second hydraulic support 16, wherein beamforming technology is used to align the first 5G controller and the second 5G controller.

[0041] In this solution, beamforming technology can be used to align different 5G controllers, reducing 5G signal attenuation and thereby improving the transmission efficiency of inter-frame 5G communications.

[0042] Specifically, beamforming technology is a technology that controls the phase and amplitude of each transmitting element in the antenna system to form an electromagnetic beam of a specific direction and shape. This technology can change the radiation pattern of the antenna, enabling directional transmission and reception, and improving the performance and coverage of the communication system. By adjusting the shape and direction of the beam, the signal can be concentrated and sent to a specific area, thereby improving the coverage and quality of the signal. By adjusting the direction and shape of the beam, the interference signals to other frequency bands can be reduced, and the anti-interference ability of the communication system can be improved. Through beamforming technology, higher transmission rates and more stable signal transmission quality can be achieved, thereby improving the performance of the communication system.

[0043] Specifically, in response to the problems existing in the prior art, this solution provides a low-power hydraulic support electro-hydraulic control system for a comprehensive mining face based on a 5G controller (i.e., the hydraulic support electro-hydraulic control system in this solution). It can realize the 5G remote low-latency control of the support action in the well and can transmit large-capacity videos in the well back; the electro-hydraulic control system of the hydraulic support in the comprehensive mining face based on the 5G controller can realize wireless communication between frames, so it can significantly reduce the number of cables added in the working face to maintain 5G equipment communication and inter-frame communication, thereby reducing the number of nodes and reducing the risk of system failure in the working face. The networking mode between 5G controllers in the electro-hydraulic control system of the hydraulic support in the comprehensive mining face based on the 5G controller is flexible. Therefore, in the event of an emergency in which multiple support communication link nodes fail, the 5G controller can also realize wireless self-organizing networking to ensure the basic support single action and group action, greatly improving the system redundancy; at the same time, the "one frame and one machine" feature of the 5G support controller combined with the flexible custom networking solution can also improve the refinement of the support action in the working face.

[0044] Specifically, in the hydraulic support system in the underground fully-mechanized mining working face, the 5G controller is used as the core to coordinate the planning and allocation of the power consumption of each unit in the 5G controller hydraulic support system. In the fully-mechanized mining working face of a coal mine, the 5G controllers on the hydraulic supports are usually arranged neatly in a plane, and the beamforming technology can be used to align the left and right ends of the neatly arranged hydraulic support controllers, which greatly reduces the attenuation of 5G signals, and further reduces the transmission power of 5G communication between racks.

[0045] Specifically, this solution solves the problem of a large amount of additional power load and communication cables caused by the 5G conversion communication equipment in the hydraulic support electro-hydraulic control system during the communication process of the existing control system, and proposes a complete low-power hydraulic support electro-hydraulic control system solution for the comprehensive mining face based on the 5G controller. With the 5G controller as the core, according to the real-time status of 5G communication in the working face, the 5G communication power of each support in the working face is comprehensively planned and allocated, the communication power of the sensors on the support in the working face that communicate wirelessly with the 5G controller is comprehensively planned and allocated, and the power consumption of each functional module inside the 5G controller is comprehensively planned and allocated. At the same time, the beamforming technology is used between the neatly arranged 5G controllers on the hydraulic support to align the 5G signals between each 5G controller with each other, which can further reduce the communication power consumption between the 5G controllers underground and effectively improve the communication efficiency and link operation stability of the underground working face.

[0046] Specifically, the control unit used in this solution may be a 5G controller.

[0047] Specifically, the hydraulic support controller with built-in 5G module is installed in a fixed position of the hydraulic support in an environment where the hydraulic supports are closely and neatly arranged underground. In this case, the 5G controller of the hydraulic support in the coal mine working face uses beamforming technology to aim and transmit the 5G signal to other 5G controllers on the left and right ends.

[0048] Specifically, in the hydraulic support system in the underground fully-mechanized mining working face, the 5G controller covers the basic functions of the conventional controller, and can manipulate the solenoid valve driver to drive the main valve to control the support to perform support actions such as raising the column, lowering the column, lifting the bottom, pulling the frame, and pushing and sliding. For the entire 5G controller low-power hydraulic support control system, the 5G controller will allocate the power consumption of each unit in the 5G controller hydraulic support system through the overall planning of beam alignment.

[0049] In specific plans, such as Figure 3 As shown, the control unit also includes MCU17, 5G module 18, power management module 19, power supply module 20, keyboard board 21, I / O interface 22 and analog-to-digital conversion module 23. MCU is at least used to control the operation of the hydraulic support and the working equipment; the 5G module is connected to the MCU for communication, and the 5G module is used to connect to the 5G network; the power management module is connected to the MCU for communication, and the power management module is used to detect the communication status between the various components inside the control unit; the power supply module is connected to the MCU for communication, and the power supply module is used to supply power to the various components inside the control unit; the keyboard board is connected to the MCU for communication, and the keyboard board is used to provide keys; the I / O interface is connected to the MCU for communication, and the I / O interface is used to provide an interface for connecting the hydraulic support and the working equipment; the analog-to-digital conversion module is connected to the MCU for communication, and the analog-to-digital conversion module is used to realize the conversion between analog signals and digital signals.

[0050] In this solution, the system integration can be greatly improved by integrating the MCU, 5G module, power management module, power supply module, keyboard board, I / O interface, and analog-to-digital conversion module together.

[0051] Specifically, the functional components of the control unit (which may be a 5G controller) in the hydraulic support electro-hydraulic control system include: 5G module, MCU, power supply module, power management module, analog-to-digital conversion module, I / O interface, etc. The 5G module, digital-to-analog conversion module, input-output module, etc. in the 5G controller are directly connected to the controller MCU, and the 5G module and the support controller MCU share the power supply interface, thereby greatly improving the overall integration of the system. The power management module monitors the communication status of each component inside the 5G controller in real time, and allocates power consumption according to the plan in turn. When the communication frequency between the 5G module and the I / O module and the MCU is at a low point during the entire working cycle, the power consumption of these functional components is appropriately reduced.

[0052] Specifically, MCU (Microcontroller Unit): is responsible for controlling and managing various functions and operations of the system, and can perform various tasks, such as data processing, communication protocol processing, sensor data acquisition, etc. The 5G module is a module used to realize the connection between the hydraulic support electro-hydraulic control system and the 5G network, that is, the 5G working Internet module, which provides high-speed data transmission and stable network connection, and can support the efficient operation and communication of the system. The power management module is responsible for managing the power supply of the system, including functions such as battery management, power conversion and voltage stabilization, to ensure that all parts of the system can obtain a stable power supply and ensure the normal operation of the system. The power supply module provides the power required by each part of the system, including sensors, actuators, communication modules, etc., and is responsible for distributing power to each module and ensuring that they can work normally. The keyboard board is the input device of the system. Users can enter instructions or parameters through the keyboard board to interact and control the system. The I / O interface is used for data exchange and communication between the system and external devices. It can connect external devices such as sensors, actuators, and displays to realize data input and output. The analog-to-digital conversion module is responsible for converting analog signals into digital signals so that the system can process and analyze them. It is usually connected to analog devices such as sensors and actuators to convert the analog data they collect into digital data for the system to process.

[0053] Specifically, the 5G controller on a single support is powered by a mining intrinsically safe DC 12V and is electrically connected to various sensors, solenoid valve drivers and cameras installed on the support. The power management module inside the 5G controller also monitors and manages the power consumption of the wireless sensors and solenoid valve drivers on the support. The electro-hydraulic control system of the hydraulic support of the comprehensive mining working face, in which the camera, sensor and driver are powered by the 5G controller and are controlled by the power management module.

[0054] In specific plans, such as Figure 3 As shown, the housing of the control unit is a metal housing 24, on the basis of which a penetrable organic material 25 is used.

[0055] In this solution, materials that are easy for 5G signals to penetrate are used on the left and right ends of the 5G controller casing, which can further reduce the communication power consumption between 5G controllers and improve communication stability.

[0056] Specifically, the 5G controller shell uses a metal frame, and uses high-strength organic materials on the left and right ends that are easy for 5G signals to penetrate. The 5G controller with this design can further reduce the 5G communication power consumption of inter-rack equipment. The organic material can be glass.

[0057] Specifically, this solution proposes an electro-hydraulic control system for hydraulic supports. The purpose is to use the 5G communication network in the working face to enable the ground control center to remotely and accurately control the movement of the underground hydraulic supports, and to achieve wireless communication between supports to reduce or even eliminate the use of wires between supports. It also monitors the real-time data flow and transmission rate in the underground 5G controller support system, and takes the 5G controller as the core to coordinate the planning and allocation of the power consumption of the camera, sensor and driver in the 5G controller hydraulic support system. Figure 4 As shown, multiple hydraulic support electro-hydraulic control systems are connected through power lines or through inter-frame 5G communication links. The hydraulic support electro-hydraulic control system includes a camera, a sensor group, a 5G controller, a driver, and a main valve. The 5G controller controls the sensor group to perform running status statistics, the sensor group communicates with the camera, and the 5G controller controls the driver to control the main valve. Figure 5 As shown, the network communication connection used by the hydraulic support electro-hydraulic control system adopts 5G communication. The 5G controller is a key device in the 5G network, which is used to manage and control the communication connection between 5G base stations. The 5G repeater is a device used to enhance the coverage of 5G signals and enhance the signal quality. The 5G repeater can be placed in a farther place to forward the signal to the user device, thereby expanding the network coverage and improving the network performance. The 5G base station is the core device of the 5G network. The 5G base station is used to provide wireless communication services to the user device. The 5G controller is used for communication underground, and the mine intrinsically safe DC 12V power supply is adopted. The switch is used to realize the forwarding and routing of data packets and realize data exchange.

[0058] In the comprehensive mining working face of a coal mine, the 5G controllers on the hydraulic supports are usually arranged neatly in a plane. The use of beamforming technology can align the left and right ends of the neatly arranged hydraulic support controllers, thereby greatly reducing the 5G signal attenuation and thus reducing the transmission power of 5G communications between frames.

[0059] The method embodiments provided in the embodiments of the present application 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 6 1 is a hardware structure block diagram of a mobile terminal of a control method of a hydraulic support electro-hydraulic control system according to an embodiment of the present invention. Figure 6 As shown, the mobile terminal may include one or more ( Figure 6 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 6The structure shown is only for illustration and does not limit the structure of the mobile terminal. Figure 6 More or fewer components as shown, or with Figure 6 Different configurations shown.

[0060] 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 display method of device information 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, the above method is implemented. 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.

[0061] In this embodiment, a control method for a hydraulic support electro-hydraulic control system running on a mobile terminal, a computer terminal or a similar computing device 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.

[0062] Figure 7 FIG. 1 is a flow chart of a control method of a hydraulic support electro-hydraulic control system according to an embodiment of the present application. Figure 7 As shown, the method comprises the following steps:

[0063] Step S201, obtaining the current state of the hydraulic support;

[0064] Specifically, the current state of the hydraulic support can be obtained, which can be a working state or a non-working state.

[0065] Step S202: adjusting the transmission rate of the working equipment according to the current state of the hydraulic support.

[0066] Specifically, when the hydraulic support is working, the transmission rate of the working equipment is increased, and when the hydraulic support is not working, the transmission rate of the working equipment is reduced.

[0067] Through this embodiment, the communication power (i.e., transmission rate) of the working equipment can be comprehensively adjusted according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground, thereby improving the transmission efficiency of data transmission of the hydraulic support wireless communication system.

[0068] Specifically, the execution subject of the above method may be a control unit of the hydraulic support electro-hydraulic control system, or may be other controllers, processors or remote servers, etc.

[0069] During the specific implementation process, the transmission rate of the above-mentioned working equipment is adjusted according to the current state of the above-mentioned hydraulic support, which can be achieved through the following steps: when the current state of the above-mentioned hydraulic support is a working state, the above-mentioned transmission rate of the above-mentioned working equipment is increased; when the current state of the above-mentioned hydraulic support is a non-working state, the above-mentioned transmission rate of the above-mentioned working equipment is reduced.

[0070] In this scheme, when the following action is being performed in the working surface, the transmission rate of the working equipment is appropriately increased to ensure that the data can be effectively transmitted. When the working surface is in a non-working state, the transmission rate of the working equipment is appropriately reduced to reduce the system power consumption, thereby further improving the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0071] Specifically, when the following action is being performed in the working surface, the 5G communication power on the bracket in action is appropriately increased and the 5G communication power on the non-action bracket is reduced; when the working surface is in a non-working state, the data transmission frequency of the camera, sensor and driver is reduced to reduce system power consumption; inside the 5G controller, the power distribution of each functional component in the 5G controller is coordinated and allocated according to the changes in communication traffic.

[0072] Specifically, when the following action is being performed in the working face, the video data frame rate of the camera on the bracket in action is appropriately increased, the data acquisition frequency of the sensor is increased, and the signal sending frequency of the driver is increased; when the working face is in a non-production state, the video frame rate of the camera is reduced, the data acquisition frequency of the sensor on the bracket and the sending frequency of the driver data are reduced to reduce the system power consumption; inside the 5G controller, the power distribution of each functional component in the 5G controller is coordinated according to the change of communication traffic. Each bracket installed with the 5G controller can perform low-power inter-rack communication and customize the device networking mode. Therefore, the electro-hydraulic control system of the hydraulic support of the fully-mechanized working face based on the 5G controller can expand the new underlying architecture design of the industrial Internet of the coal mining industry, and finally realize the program upgrade function of a single frame and all controllers on the ground through Ethernet; realize the customized 5G networking solution of the underground working face; realize automatic program absorption; realize low-latency wireless communication between frames of the underground working face; support EIP communication protocol; realize automatic parameter update and other functions. Using 5G network to connect the underground controller can also improve the reliability of the entire system, so that it can still maintain the normal operation of the entire system when some controllers fail.

[0073] In some embodiments, the working equipment includes the camera, the sensor and the driver. According to the current state of the hydraulic support, the transmission rate of the working equipment is adjusted, which can be achieved by the following steps: when the current state of the hydraulic support is the working state, the first transmission power of the camera is increased; when the current state of the hydraulic support is the working state, the second transmission power of the sensor is reduced; when the current state of the hydraulic support is the working state, the third transmission power of the driver is increased.

[0074] In this method, when the hydraulic support in the working surface is performing a following action, the sensors, drivers and cameras on the support enter the performance mode. The sensors collect data with a lower delay, which can reduce the interference of the sensors. The drivers send driving instructions at a higher frequency, and the cameras send video data to the 5G base station at a high frame rate. In this way, high-precision real-time images can be transmitted, ensuring that the drive control instructions can be executed quickly, thereby further improving the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0075] Specifically, the 5G controller is responsible for making decisions and managing the switching of communication modes of equipment on a single hydraulic support. For example, when the hydraulic support in the working surface is performing a follow-up action, the sensors, drivers and cameras on the support enter the performance mode: the sensors collect data with a lower latency, the drivers send driving instructions at a higher frequency, and the cameras send video data to the 5G base station at a high frame rate.

[0076] During the specific implementation process, the above-mentioned working equipment includes the above-mentioned camera, the above-mentioned sensor and the above-mentioned driver. According to the current state of the above-mentioned hydraulic support, the transmission rate of the above-mentioned working equipment is adjusted, which can be achieved through the following steps: when the current state of the above-mentioned hydraulic support is a non-working state, the first transmission power of the above-mentioned camera is reduced; when the current state of the above-mentioned hydraulic support is the above-mentioned non-working state, the second transmission power of the above-mentioned sensor is increased; when the current state of the above-mentioned hydraulic support is the above-mentioned non-working state, the third transmission power of the above-mentioned driver is reduced.

[0077] In this method, when the production shift of the working face ends and enters the maintenance shift, it enters silent mode and the sensor collects data with a higher delay. At this time, the sensor still needs to perform real-time detection to avoid geological changes or equipment failures. The driver sends drive instructions at a lower frequency, and the camera sends video data to the 5G base station at a low frame rate. This can reduce unnecessary electromagnetic interference and further improve the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0078] Specifically, when the production shift of the working face ends and enters the maintenance shift, it enters silent mode: the sensor collects data with a higher delay, the driver sends drive instructions at a lower frequency, and the camera sends video data to the 5G base station at a low frame rate. This can reduce the 5G communication power consumption of the 5G controller system.

[0079] Specifically, the power management module on the camera and 5G controller collects the working status information of the hydraulic support approaching the current working face through the inter-rack 5G communication, and adjusts the energy consumption status of each device connected to the 5G controller according to this information, such as Figure 8 As shown, the 5G communication function modules of the camera, sensor and solenoid valve driver are divided into silent mode, normal mode and performance mode. The initial mode is normal mode, and then it is adjusted according to the status of the hydraulic support. The following are introduced respectively:

[0080] Silent mode (hydraulic direct non-working state): the camera sends low frame rate video (can be 10 frames per second), the sensor sends data every 300ms, and the drive sends data every 30ms;

[0081] Normal mode: The camera sends the rated frame rate video (which can be 30 frames per second), the sensor sends data every 120ms, and the driver sends data every 80ms;

[0082] Performance mode (direct hydraulic operation): The camera sends high frame rate video (120 frames per second), the sensor sends data every 80ms, and the actuator sends data every 120ms.

[0083] Specifically, the 5G controller low-power mining hydraulic support electro-hydraulic control system determines the local working status of the working face through the inter-frame 5G communication with 5G beam alignment, and divides the 5G communication of the camera, sensor and driver on the support into performance mode, normal mode and silent mode according to the work priority of the support, and uses different data transmission frequencies in different modes. To achieve low-power operation of the entire 5G control; the 5G controller can realize inter-frame wireless communication, and the system installation does not require additional auxiliary communication equipment, which can greatly reduce the number of cables used in the installation process of the 5G network of the entire working face and reduce the risk of system failure; the 5G controllers use beamforming technology to align the 5G signals with each other, and at the same time, the left and right ends of the 5G controllers use organic glass materials that are easy for 5G signals to penetrate, so as to further reduce the communication power consumption between the left and right adjacent 5G controllers and improve communication stability.

[0084] Specifically, this solution has the following advantages: the underground 5G communication system adds beam-aligned 5G inter-frame communication in addition to the communication link for controller signal transmission through the 5G base station. With the 5G controller as the core, the working status of adjacent supports on the local working face is obtained through 5G inter-frame communication, and the 5G communication data volume of the camera, sensor, and driver on the support is adjusted in real time according to the working status to reduce the 5G communication power consumption of the entire system; the use of a 5G controller low-power hydraulic support control system can reduce the number of additional 5G equipment communication cables and power supply cables added to the support during the installation of the 5G network on the working face and reduce the risk of system failure; the 5G controllers neatly arranged in the coal mine working face are aligned with each other's 5G signal beams with the help of beamforming technology, and the left and right ends of the 5G controller shell use materials that are easy for 5G signals to penetrate, which can further reduce the communication power consumption between 5G controllers and improve communication stability.

[0085] The embodiment of the present application also provides a control device for an electro-hydraulic control system of a hydraulic support. It should be noted that the control device for an electro-hydraulic control system of a hydraulic support in the embodiment of the present application can be used to execute the control method for an electro-hydraulic control system of a hydraulic support provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

[0086] The following is an introduction to the control device of the hydraulic support electro-hydraulic control system provided in the embodiment of the present application.

[0087] Fig. 9 It is a structural block diagram of a control device of an electro-hydraulic control system of a hydraulic support according to an embodiment of the present application.

[0088] like Fig. 9 As shown, the device comprises:

[0089] An acquisition unit 100 is used to acquire the current state of the hydraulic support;

[0090] The adjustment unit 200 is used to adjust the transmission rate of the working equipment according to the current state of the hydraulic support.

[0091] Through this embodiment, the communication power (i.e., transmission rate) of the working equipment can be comprehensively adjusted according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground, thereby improving the transmission efficiency of data transmission of the hydraulic support wireless communication system.

[0092] During the specific implementation process, the adjustment unit includes a first processing module and a second processing module. The first processing module is used to increase the transmission rate of the above-mentioned working equipment when the current state of the above-mentioned hydraulic support is a working state; the second processing module is used to reduce the transmission rate of the above-mentioned working equipment when the current state of the above-mentioned hydraulic support is a non-working state.

[0093] In this scheme, when the following action is being performed in the working surface, the transmission rate of the working equipment is appropriately increased to ensure that the data can be effectively transmitted. When the working surface is in a non-working state, the transmission rate of the working equipment is appropriately reduced to reduce the system power consumption, thereby further improving the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0094] In some embodiments, the working equipment includes the camera, the sensor and the driver, and the adjustment unit also includes a third processing module, a fourth processing module and a fifth processing module. The third processing module is used to increase the first transmission power of the camera when the current state of the hydraulic support is the working state; the fourth processing module is used to reduce the second transmission power of the sensor when the current state of the hydraulic support is the working state; the fifth processing module is used to increase the third transmission power of the driver when the current state of the hydraulic support is the working state.

[0095] In this solution, when the hydraulic support in the working surface is performing a following action, the sensors, drivers and cameras on the support enter the performance mode. The sensors collect data with a lower delay, which can reduce the interference of the sensors. The drivers send driving instructions at a higher frequency, and the cameras send video data to the 5G base station at a high frame rate. This can transmit high-precision real-time images and ensure that the drive control instructions can be executed quickly, thereby further improving the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0096] During the specific implementation process, the above-mentioned working equipment includes the above-mentioned camera, the above-mentioned sensor and the above-mentioned driver, and the adjustment unit also includes a sixth processing module, a seventh processing module and an eighth processing module. The sixth processing module is used to reduce the first transmission power of the above-mentioned camera when the current state of the above-mentioned hydraulic support is the non-working state; the seventh processing module is used to increase the second transmission power of the above-mentioned sensor when the current state of the above-mentioned hydraulic support is the above-mentioned non-working state; the eighth processing module is used to reduce the third transmission power of the above-mentioned driver when the current state of the above-mentioned hydraulic support is the above-mentioned non-working state.

[0097] In this solution, when the production shift of the working face ends and enters the maintenance shift, it enters silent mode and the sensors collect data with a higher delay. At this time, the sensors still need to perform real-time detection to avoid geological changes or equipment failures. The driver sends drive instructions at a lower frequency, and the camera sends video data to the 5G base station at a low frame rate. This can reduce unnecessary electromagnetic interference and further improve the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0098] The control device of the hydraulic support electro-hydraulic control system includes a processor and a memory. The acquisition unit, adjustment unit, etc. are stored in the memory as program units, and the processor executes the program units stored in the memory to realize the corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0099] The processor includes a kernel, and the kernel retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of low transmission efficiency of the existing hydraulic support wireless communication system in the prior art is solved by adjusting the kernel parameters.

[0100] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0101] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the control method of the hydraulic support electro-hydraulic control system.

[0102] Specifically, the control method of the hydraulic support electro-hydraulic control system includes:

[0103] Step S201, obtaining the current state of the hydraulic support;

[0104] Step S202: adjusting the transmission rate of the working equipment according to the current state of the hydraulic support.

[0105] An embodiment of the present invention provides a processor, and the processor is used to run a program, wherein the control method of the hydraulic support electro-hydraulic control system is executed when the program is run.

[0106] Specifically, the control method of the hydraulic support electro-hydraulic control system includes:

[0107] Step S201, obtaining the current state of the hydraulic support;

[0108] Step S202: adjusting the transmission rate of the working equipment according to the current state of the hydraulic support.

[0109] An embodiment of the present invention provides a device, the device including a processor, a memory, and a program stored in the memory and executable on the processor, and when the processor executes the program, at least the following steps are implemented:

[0110] Specifically, the control method of the hydraulic support electro-hydraulic control system includes:

[0111] Step S201, obtaining the current state of the hydraulic support;

[0112] Step S202: adjusting the transmission rate of the working equipment according to the current state of the hydraulic support.

[0113] The devices in this article can be servers, PCs, PADs, mobile phones, etc.

[0114] The present application provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the above method in each embodiment of the present application are implemented:

[0115] Specifically, the control method of the hydraulic support electro-hydraulic control system includes:

[0116] Step S201, obtaining the current state of the hydraulic support;

[0117] Step S202: adjusting the transmission rate of the working equipment according to the current state of the hydraulic support.

[0118] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0119] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0120] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0121] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0122] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0123] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0124] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0125] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0126] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0127] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0128] 1) A hydraulic support electro-hydraulic control system of the present application can comprehensively adjust the communication power (i.e., transmission rate) of the working equipment according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground and further improving the transmission efficiency of the data transmission of the hydraulic support wireless communication system.

[0129] 2) A control method for a hydraulic support electro-hydraulic control system of the present application can comprehensively adjust the communication power (i.e., transmission rate) of the working equipment according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground and further improving the transmission efficiency of data transmission of the hydraulic support wireless communication system.

[0130] 3) A control device of a hydraulic support electro-hydraulic control system of the present application can comprehensively adjust the communication power (i.e., transmission rate) of the working equipment according to the working state of the hydraulic support. For example, when the hydraulic support is working, the transmission rate of the working equipment is increased, thereby increasing the speed of data transmission. When the hydraulic support is not working, the transmission rate of the working equipment is low, thereby reducing the communication power consumption underground, thereby improving the transmission efficiency of data transmission of the hydraulic support wireless communication system.

[0131] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A hydraulic support electro-hydraulic control system, characterized in that: include: Hydraulic support; Working equipment, wherein the working equipment comprises at least one or more of a camera, a sensor and a driver; A control unit is located in the hydraulic support, and the control unit is respectively connected to the hydraulic support and the working equipment for communication, and the control unit is used to adjust the transmission rate of the working equipment according to the current state of the hydraulic support.

2. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The control unit comprises: A first 5G controller, located in the first hydraulic support; A second 5G controller is located in a second hydraulic support, wherein beamforming technology is used to align the first 5G controller and the second 5G controller.

3. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The control unit comprises: MCU, at least used to control the operation of the hydraulic support and the working equipment; A 5G module, which is communicatively connected to the MCU, and the 5G module is used to connect to a 5G network; A power management module, which is in communication connection with the MCU, and is used to detect the communication status between various components inside the control unit; A power supply module, which is in communication connection with the MCU and is used to supply power to various components inside the control unit; A keyboard board, connected to the MCU for communication, and used for providing keys; An I / O interface, which is in communication with the MCU, and is used to provide an interface for connecting the hydraulic support and the working equipment; The analog-to-digital conversion module is communicatively connected to the MCU, and the analog-to-digital conversion module is used to realize conversion between analog signals and digital signals.

4. The hydraulic support electro-hydraulic control system according to claim 1, characterized in that: The shell of the control unit is a metal shell, and a penetrable organic material is used on the basis of the metal shell.

5. A control method for an electro-hydraulic control system of a hydraulic support according to any one of claims 1 to 4, characterized in that: The method comprises: Obtaining the current state of the hydraulic support; The transmission rate of the working equipment is adjusted according to the current state of the hydraulic support.

6. The control method of the hydraulic support electro-hydraulic control system according to claim 5, characterized in that: According to the current state of the hydraulic support, the transmission rate of the working equipment is adjusted, including: When the current state of the hydraulic support is a working state, increasing the transmission rate of the working equipment; When the current state of the hydraulic support is a non-working state, the transmission rate of the working equipment is reduced.

7. The control method of the hydraulic support electro-hydraulic control system according to claim 5, characterized in that: The working equipment includes the camera, the sensor and the driver, and the transmission rate of the working equipment is adjusted according to the current state of the hydraulic support, including: When the current state of the hydraulic support is a working state, increasing the first transmission power of the camera; When the current state of the hydraulic support is the working state, reducing the second transmission power of the sensor; When the current state of the hydraulic support is the working state, the third transmission power of the drive is increased.

8. The control method of the hydraulic support electro-hydraulic control system according to claim 5, characterized in that: The working equipment includes the camera, the sensor and the driver, and the transmission rate of the working equipment is adjusted according to the current state of the hydraulic support, including: When the current state of the hydraulic support is a non-working state, reducing the first transmission power of the camera; When the current state of the hydraulic support is the non-working state, increasing the second transmission power of the sensor; When the current state of the hydraulic support is the non-working state, the third transmission power of the driver is reduced.

9. A control device for an electro-hydraulic control system of a hydraulic support according to any one of claims 1 to 4, characterized in that: The device comprises: An acquisition unit, used for acquiring the current state of the hydraulic support; The adjustment unit is used to adjust the transmission rate of the working equipment according to the current state of the hydraulic support.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the control method of the hydraulic support electro-hydraulic control system described in any one of claims 5 to 8 are implemented.

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