Cooperative start-stop control system and method for coal roadway rapid tunneling complete equipment

Abstract

The invention provides a cooperative start-stop control system and method for coal roadway rapid tunneling complete equipment, and relates to the technical field of coal mines. The system comprises a field bus communication module which comprises a communication unit of each single-machine device; the centralized control module comprises a control panel and a centralized controller, the control panel comprises a main centralized control panel, the main centralized control panel comprises a one-key start-stop button and a mode selection button, and the main centralized control panel is used for sending one-key start-stop button information and mode selection button information to the centralized controller; the man-machine interaction module comprises an initialization parameter setting unit and a communication detection unit; and when the mode selection button information received by the centralized controller is linkage working mode button information, performing cooperative start-stop control on the plurality of single-machine devices according to a start-stop sequence based on the one-key start-stop button information. Information centralized processing and remote centralized control can be carried out on each single machine device in the complete equipment, so that cooperative start and stop of the complete equipment are realized, and the efficiency of a driving working face is improved.

Description

Technical Field

[0001] The present application relates to the field of coal mine technology, and in particular to a coordinated start-stop control system and method for a complete set of equipment for rapid tunneling of coal tunnels. Background Art

[0002] The complete set of equipment for rapid tunneling of coal tunnels is currently widely used to achieve efficient and rapid tunneling of tunneling working faces, and integrated operations of tunneling, support, anchoring and transportation. Its common components include integrated tunneling and anchoring machines, anchor transfer machines, flexible belt machines, and step-type self-moving machine tails. That is, a complete set of equipment consisting of tunneling equipment, anchor protection equipment, transfer equipment and transportation equipment in sequence. As a part of the intelligent construction of coal mines, the intelligent construction of tunneling working faces is of great significance to the unmanned mining of coal mines with few people. Summary of the invention

[0003] The present application aims to solve one of the technical problems in the related art at least to some extent.

[0004] To this end, the first aspect of the present application proposes a coordinated start-stop control system for a complete set of rapid tunneling equipment for coal tunnels, wherein the complete set of rapid tunneling equipment for coal tunnels includes multiple stand-alone devices, and the system includes:

[0005] A fieldbus communication module, including a communication unit for each of the stand-alone devices, each of the communication units using a switch box as a carrier to achieve device communication;

[0006] The centralized control module includes a control panel and a centralized controller, wherein the control panel includes a master centralized control panel, the master centralized control panel includes a one-key start-stop button and a mode selection button, and the master centralized control panel is used to send one-key start-stop button information and mode selection button information to the centralized controller;

[0007] The human-computer interaction module comprises an initialization parameter setting unit and a communication detection unit, wherein the initialization parameter setting unit is used to set the start and stop sequence of the plurality of stand-alone devices, and the communication detection unit is used to detect the communication status between the centralized controller and the plurality of stand-alone devices, and the communication status between the centralized controller and the human-computer interaction interface;

[0008] Among them, when the mode selection button information received by the centralized controller is linkage working mode button information, based on the one-key start-stop button information, the multiple stand-alone devices are collaboratively started and stopped according to the start-stop sequence of the multiple stand-alone devices.

[0009] In some embodiments of the present application, the control panel also includes a sub-centralized control panel, which includes a single-machine control button for each of the single-machine devices, and the sub-centralized control panel is used to send single-machine control button information to the centralized controller; wherein, when the mode selection button information received by the centralized controller is a single-machine working mode button information, the corresponding single-machine device is controlled based on the single-machine control button information.

[0010] In some embodiments of the present application, the human-computer interaction module also includes a twin display unit; the twin display unit is used to receive and display status information of the multiple stand-alone devices.

[0011] In some embodiments of the present application, the initialization parameter setting unit is further used to set a start delay time and / or stop delay time between a preceding device and a succeeding device in the start-stop sequence.

[0012] In some embodiments of the present application, the plurality of stand-alone devices are at least a plurality of the following: an integrated digging and anchoring machine, an anchor transfer machine, a flexible belt conveyor, and a walking self-moving tail machine.

[0013] The second aspect of the present application proposes a method for coordinated start-stop control of a complete set of equipment for rapid tunneling of a coal tunnel, characterized in that the method is applied to the coordinated start-stop control system of the complete set of equipment for rapid tunneling of a coal tunnel as described in the first aspect; the method comprises:

[0014] The communication detection unit detects the communication status between the centralized controller and the plurality of stand-alone devices, and the communication status between the centralized controller and the human-computer interaction interface;

[0015] When the communication status between the centralized controller and the multiple stand-alone devices is normal, and the communication status between the centralized controller and the human-computer interaction interface is normal, setting the start and stop sequence of the multiple stand-alone devices by the initialization parameter setting unit;

[0016] The main centralized control panel receives a first operation on the mode selection button, generates the linkage working mode button information, and the centralized controller switches the working mode to the linkage working mode according to the linkage working mode button information;

[0017] The main centralized control panel receives an operation on the one-button start / stop button and generates the one-button start / stop button information. The centralized controller performs coordinated start / stop control on the multiple stand-alone devices in the start / stop sequence according to the one-button start / stop button information.

[0018] In some embodiments of the present application, the one-button start-stop button includes a one-button start button and a one-button stop button; the main centralized control panel receives the operation of the one-button start-stop button, generates the one-button start-stop button information, and the centralized controller performs coordinated start-stop control on the multiple stand-alone devices in the start-stop sequence according to the one-button start-stop button information, including: the main centralized control panel receives the operation of the one-button start button, generates the one-button start button information, and the centralized controller performs one-button start control on the multiple stand-alone devices in the start-stop sequence according to the one-button start button information.

[0019] In some embodiments of the present application, the main centralized control panel receives an operation on the one-button start / stop button, generates the one-button start / stop button information, and the centralized controller performs coordinated start / stop control on the multiple stand-alone devices in the start / stop sequence according to the one-button start / stop button information, including: the main centralized control panel receives an operation on the one-button stop button, generates the one-button stop button information, and the centralized controller performs one-button stop control on the multiple stand-alone devices in the start / stop sequence according to the one-button stop button information.

[0020] In some embodiments of the present application, the centralized controller performs one-button stop control on the multiple stand-alone devices according to the start-stop sequence based on the one-button stop button information, including: controlling the transportation of the multiple stand-alone devices and stopping the No. 1 belt after running for a preset period of time.

[0021] In some embodiments of the present application, the method also includes: the main centralized control panel receives a second operation on the mode selection button, generates the stand-alone working mode button information, and the centralized controller switches the working mode to the stand-alone working mode according to the stand-alone working mode button information; the sub-centralized control panel receives an operation on the stand-alone control button, generates the stand-alone control button information, and the centralized controller controls the corresponding stand-alone device according to the stand-alone control button information.

[0022] According to the coordinated start and stop control system of the complete set of equipment for rapid coal tunneling in the embodiment of the present application, it is possible to centrally process information of each single-machine equipment in the complete set of equipment for rapid coal tunneling, and perform remote and centralized control of each single-machine equipment, thereby realizing the coordinated start and stop of the complete set of equipment, improving work safety, efficiency of the tunneling working face and the level of intelligence, which is of great significance to the unmanned and unmanned mining of coal mines.

[0023] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0025] Figure 1 A schematic diagram of a coordinated start-stop control system for a complete set of equipment for rapid tunneling of a coal tunnel provided in an embodiment of the present application;

[0026] Figure 2 A communication diagram of a coordinated start-stop control system for a complete set of equipment for rapid tunneling in a coal tunnel provided in an embodiment of the present application;

[0027] Figure 3 A flow chart of a method for coordinated start and stop control of a complete set of equipment for rapid tunneling of a coal tunnel provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] Embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present application, and should not be construed as limiting the present application.

[0029] The present application proposes a coordinated start-stop control system and method for a complete set of equipment for rapid tunneling of a coal tunnel. Specifically, the following describes a coordinated start-stop control system and method for a complete set of equipment for rapid tunneling of a coal tunnel according to an embodiment of the present application with reference to the accompanying drawings.

[0030] Figure 1 This is a schematic diagram of a coordinated start-stop control system for a complete set of equipment for rapid tunneling in a coal tunnel provided in an embodiment of the present application. The complete set of equipment for rapid tunneling in a coal tunnel includes multiple stand-alone devices. Figure 1 As shown, the coordinated start-stop control system for the complete set of equipment for rapid tunneling of coal tunnels includes: a field bus communication module 101, a centralized control module 102 and a human-computer interaction module 103.

[0031] The fieldbus communication module 101 includes a communication unit of each stand-alone device, and each communication unit uses a switch box as a carrier to realize device communication.

[0032] In some embodiments of the present application, the complete set of equipment for rapid coal tunneling may include an integrated digging and anchoring machine, an anchor transfer machine, a bendable belt conveyor, and a walking self-moving tail. As an example, Figure 2A communication diagram of a coordinated start-stop control system for a complete set of equipment for rapid excavation of coal tunnels provided in an embodiment of the present application. Each stand-alone device has its own communication unit, and each communication unit uses a switch box as a carrier to realize device communication. Each stand-alone device is connected to the switch box via a network cable, and the switch box can be cascaded starting from the integrated digging and anchoring machine, wherein the integrated digging and anchoring machine and the anchor transfer machine communicate in a wired and wireless redundant manner, the wired connection is a network cable, and the wireless is realized by a wifi6 base station. The anchor transfer machine and the flexible belt conveyor are connected by optical fiber to realize communication, and the flexible belt conveyor and the walking self-moving tail are connected by a network cable to realize communication, and the walking self-moving tail or the flexible belt conveyor is connected by a network cable to the centralized controller in the centralized control module to realize communication. This enables communication and interconnection of rapid excavation equipment. Each stand-alone device uses ADS communication to transmit information. ADS communication is a unique communication protocol within the Beckhoff controller. Each controller is identified by a unique NETID. This communication method integrates the characteristics of EtherCAT to achieve stable and reliable internal communication. The use of ADS communication can avoid information interference between the internal device network and the external network, thereby improving the stability of communication.

[0033] The centralized control module 102 includes a control panel and a centralized controller. The control panel includes a master centralized control panel. The master centralized control panel includes a one-key start / stop button and a mode selection button. The master centralized control panel is used to send one-key start / stop button information and mode selection button information to the centralized controller. Figure 2 As shown, CAN communication can be used between the control panel and the centralized controller, and ADS communication can be used between the centralized controller and the stand-alone equipment.

[0034] The human-computer interaction module 103 includes an initialization parameter setting unit and a communication detection unit. The initialization parameter setting unit is used to set the start and stop sequence of multiple stand-alone devices, and the communication detection unit is used to detect the communication status between the centralized controller and the multiple stand-alone devices, and the communication status between the centralized controller and the human-computer interaction interface. Optionally, in addition to setting the start and stop sequence of multiple stand-alone devices, the initialization parameter setting unit can also be used to set the start delay time and / or stop delay time between the front-stage device and the rear-stage device in the start and stop sequence.

[0035] Optionally, the excavation face process can be summarized and planned, and the working scenes and locations of each single-machine equipment can be input into the system in advance, and the start and stop sequence of multiple single-machine equipment can be arranged according to the working face. As an example, the one-button start sequence in the start and stop sequence can be: first transport belt-digger and anchor machine oil pump-anchor transfer machine oil pump-flexible belt machine-anchor transfer machine crushing-anchor transfer machine transportation-digger and anchor machine transportation-digger and anchor machine loading-digger and anchor machine cutting. The one-button stop sequence in the start and stop sequence can follow the principle of starting against the coal flow and stopping along the coal flow. It should be noted that the transmission and display of information between the human-computer interaction module and the single-machine equipment, and between the human-computer interaction module and the centralized controller can be realized by ModbusTCP communication.

[0036] In some embodiments of the present application, the working mode can be selected through the mode selection button in the main centralized control panel, and the working mode may include a linkage working mode and a stand-alone working mode. When the mode selection button information received by the centralized controller is linkage working mode button information, the centralized controller performs coordinated start and stop control on multiple stand-alone devices according to the start and stop sequence of the multiple stand-alone devices based on the one-button start and stop button information.

[0037] It should be noted that in some embodiments of the present application, when the centralized controller performs coordinated start-stop control on multiple stand-alone devices, it is necessary to issue the next-stage start-stop command after receiving the previous-stage start-stop information, and clear the previous-stage start-stop command at the same time. After the start-stop interruption, it can be reset and restarted, such as pressing the emergency stop button to clear all start-stop commands.

[0038] In some embodiments of the present application, the control panel further includes a sub-centralized control panel, the sub-centralized control panel includes a single-machine control button for each single-machine device, and the sub-centralized control panel is used to send single-machine control button information to the centralized controller. When the mode selection button information received by the centralized controller is single-machine working mode button information, the sub-centralized control panel receives the single-machine control button information sent by the sub-centralized control panel, and controls the corresponding single-machine device based on the single-machine control button information.

[0039] It should be noted that the sub-centralized control panel can be used for testing before the coordinated start-stop process and for auxiliary work during the coordinated start-stop process. The testing work before the coordinated start-stop process includes clearing faults or testing the start-stop status of a single device. Auxiliary work during the coordinated start-stop process includes starting and stopping equipment separately, moving equipment, locking equipment, etc. The operation instructions on the sub-centralized control panel are valid only when the centralized controller receives the single-machine working mode button information. The control panel sends the received panel button information to the centralized controller, which is implemented using CAN communication. For example, the baud rate of CAN communication is 250k. The sub-centralized control panel is connected in series with the main centralized control panel and connected to the centralized controller. The PDOID of the main centralized control panel is 180, and the PDOID bits of the sub-centralized control panel are 181 and 182.

[0040] In order to more intuitively display the status information of multiple stand-alone devices, optionally, in some embodiments of the present application, the human-computer interaction module may also include a twin display unit. The twin display unit is used to receive and display the status information of multiple stand-alone devices. For example, the status information of multiple stand-alone devices may include the start and stop status of the oil pump of the anchor digging machine, the start and stop status of the loading of the anchor digging machine, the start and stop status of the transportation of the anchor digging machine, the start and stop status of the cutting of the anchor digging machine, the fault information of the anchor digging machine, the start and stop status of the oil pump of the anchor transfer machine, the start and stop status of the crushing of the anchor transfer machine, the start and stop status of the transportation of the anchor transfer machine, the start and stop status of the flexible belt conveyor belt, and the start and stop status of the tail oil pump of the self-moving machine.

[0041] In addition, the twin display unit can also display subway-style one-button start and stop information, the communication status of each stand-alone device, the motor current value and motor temperature value of each stand-alone device, and the information of each stand-alone device is associated and mapped with the three-dimensional digital twin model of the stand-alone device. For example, the cutting start and stop action is reflected in the digital twin interface as the rotation of the cutting drum, and the cutting speed is reflected according to the current adjustment animation speed. The digital twin interface can have the function of automatic scene switching. For example, after the cutting of the anchor-drilling machine is started, it will automatically jump to the cutting part of the anchor-drilling machine for display. After all the stand-alone devices are started, the roaming mode is presented, that is, the full view of the complete set of equipment is displayed, and the position and direction can be adjusted at will.

[0042] In some embodiments of the present application, the human-computer interaction module may also include built-in voice alarm software, read the computer audio and microphone device interfaces, and implement device start and stop voice alarms and remote calls through external speakers. Each stand-alone device simultaneously sends video surveillance system information to the human-computer interaction module to achieve a combined presentation of real scenes and virtual scenes.

[0043] According to the coordinated start and stop control system of the complete set of equipment for rapid coal tunneling in the embodiment of the present application, it is possible to centrally process information of each single-machine equipment in the complete set of equipment for rapid coal tunneling, and perform remote and centralized control of each single-machine equipment, thereby realizing the coordinated start and stop of the complete set of equipment, improving work safety, efficiency of the tunneling working face and the level of intelligence, which is of great significance to the unmanned and unmanned mining of coal mines.

[0044] Figure 3 The flowchart of a method for controlling the coordinated start and stop of a complete set of equipment for rapid tunneling in a coal tunnel provided in an embodiment of the present application is shown in FIG. The method can be applied to the coordinated start and stop control system for the complete set of equipment for rapid tunneling in a coal tunnel described in any of the above embodiments. Figure 3 As shown, the method for coordinated start-stop control of a complete set of equipment for rapid tunneling of coal tunnels may include the following steps:

[0045] Step 301 : The communication detection unit detects the communication status between the centralized controller and a plurality of stand-alone devices, and the communication status between the centralized controller and a human-computer interaction interface.

[0046] Optionally, during the process of detecting the communication status, the communication status can also be displayed in real time through the human-computer interaction module, wherein the communication status can be displayed in the form of 0-255 heartbeat changes.

[0047] Step 302: When the communication status between the centralized controller and the multiple stand-alone devices is normal, and the communication status between the centralized controller and the human-computer interaction interface is normal, the start and stop sequence of the multiple stand-alone devices is set by an initialization parameter setting unit.

[0048] In a possible implementation, the working scenes and positions of each stand-alone device can be input into the system in advance, and the start and stop sequence of multiple stand-alone devices can be arranged according to the working surface. In addition, when the start and stop sequence is set by the initialization parameter setting unit, the start delay time and / or stop delay time between the preceding device and the succeeding device in the start and stop sequence can also be set by the initialization parameter setting unit.

[0049] Step 303: the main centralized control panel receives the first operation on the mode selection button, generates linkage working mode button information, and the centralized controller switches the working mode to the linkage working mode according to the linkage working mode button information.

[0050] It should be noted that the first operation is that the operator selects the linkage working mode through the mode selection button on the main control panel. The mode selection button can be a knob or other button form. When the operator selects the linkage working mode, the main control panel receives the operation, generates linkage working mode button information, and switches the working mode.

[0051] Step 304: the main centralized control panel receives the operation of the one-button start / stop button, generates one-button start / stop button information, and the centralized controller performs coordinated start / stop control on multiple stand-alone devices in a start / stop sequence according to the one-button start / stop button information.

[0052] In some embodiments of the present application, the one-button start-stop button may include a one-button start button and a one-button stop button. When the operator presses the one-button start button, the main control panel receives the operator's operation on the one-button start button and generates one-button start button information. The centralized controller performs one-button start control on multiple stand-alone devices in a start-stop sequence according to the one-button start button information. When each stand-alone device starts to start, the centralized controller may issue a voice prompt, and the human-computer interaction module displays the corresponding action association. The operator can perform emergency shutdown and manual intervention by observing the distance between the devices and the video surveillance screen.

[0053] When the integrated miner and anchor machine starts cutting successfully, all equipment starts and stops in coordination, enters the cutting operation mode, and the system automatically clears the start command of each stand-alone equipment. When the operator presses the one-button stop button, the main centralized control panel receives the operator's operation of the one-button stop button and generates one-button stop button information. The centralized controller performs one-button stop control on multiple stand-alone equipment in the start and stop sequence according to the one-button stop button information.

[0054] Optionally, during the one-key stop process, the transportation of multiple single-machine equipment and the No. 1 belt can be controlled to stop after a preset running time to ensure that all the coal is transported out of the main tunnel to avoid the danger of coal piling and working environment.

[0055] To further improve operational safety, in some embodiments of the present application, an auxiliary button may also be set in the main control panel, and the one-key start button and the auxiliary button must be pressed at the same time to perform the one-key start process.

[0056] Optionally, in some embodiments of the present application, in addition to the coordinated start and stop control of the complete set of equipment for rapid tunneling in coal tunnels, the complete set of equipment for rapid tunneling in coal tunnels can also be controlled as a single machine. As an example, the main centralized control panel can also receive a second operation on the mode selection button. Among them, the second operation is that the operator selects the stand-alone working mode through the mode selection button on the main centralized control panel, and then generates the stand-alone working mode button information. The centralized controller switches the working mode to the stand-alone working mode according to the stand-alone working mode button information. The sub-centralized control panel receives the operation on the stand-alone control button, generates the stand-alone control button information, and the centralized controller controls the corresponding stand-alone equipment according to the stand-alone control button information.

[0057] When an interruption or unexpected situation occurs during the one-key coordinated start-stop process, the one-key start process can be paused through the one-key stop button, and the working mode can be switched to the single-machine working mode. At this time, the start command of each single-machine device can be clear to ensure the safety of coordinated start-stop and fault repair. After the fault repair is completed, the linkage working mode can be switched back to restart the one-key start process.

[0058] According to the coordinated start and stop control method for a complete set of equipment for rapid tunneling in a coal tunnel according to an embodiment of the present application, information of each single-machine equipment in the complete set of equipment for rapid tunneling in a coal tunnel can be centrally processed based on the coordinated start and stop control system of the complete set of equipment for rapid tunneling in a coal tunnel, and each single-machine equipment can be remotely and centrally controlled, thereby realizing the coordinated start and stop of the complete set of equipment, improving work safety, efficiency of the tunneling working face and the level of intelligence, which is of great significance to the unmanned and unmanned mining of coal mines.

Claims

1. A coordinated start-stop control system for a complete set of equipment for rapid tunneling in coal tunnels, characterized in that: The complete set of equipment for rapid tunneling of coal tunnels includes multiple stand-alone devices, and the system includes: A fieldbus communication module, including a communication unit for each of the stand-alone devices, each of the communication units using a switch box as a carrier to achieve device communication; The centralized control module includes a control panel and a centralized controller, wherein the control panel includes a master centralized control panel, the master centralized control panel includes a one-key start-stop button and a mode selection button, and the master centralized control panel is used to send one-key start-stop button information and mode selection button information to the centralized controller; The human-computer interaction module comprises an initialization parameter setting unit and a communication detection unit, wherein the initialization parameter setting unit is used to set the start and stop sequence of the plurality of stand-alone devices, and the communication detection unit is used to detect the communication status between the centralized controller and the plurality of stand-alone devices, and the communication status between the centralized controller and the human-computer interaction interface; Among them, when the mode selection button information received by the centralized controller is linkage working mode button information, based on the one-key start-stop button information, the multiple stand-alone devices are collaboratively started and stopped according to the start-stop sequence of the multiple stand-alone devices.

2. The system according to claim 1, characterized in that The control panel also includes a sub-centralized control panel, which includes a single-machine control button for each of the single-machine devices, and the sub-centralized control panel is used to send single-machine control button information to the centralized controller; wherein, when the mode selection button information received by the centralized controller is single-machine working mode button information, the corresponding single-machine device is controlled based on the single-machine control button information.

3. The system according to claim 1, characterized in that The human-computer interaction module also includes a twin display unit; the twin display unit is used to receive and display status information of the multiple stand-alone devices.

4. The system according to claim 1, characterized in that The initialization parameter setting unit is further used to set the start delay time and / or stop delay time between the preceding device and the succeeding device in the start-stop sequence.

5. The system according to claim 1, characterized in that The multiple single-machine equipment are at least multiple of the following: an integrated digging and anchoring machine, an anchor transfer machine, a flexible belt conveyor and a walking-type self-moving machine tail.

6. A method for coordinated start-stop control of a complete set of equipment for rapid tunneling of coal tunnels, characterized in that: The method is applied to the coordinated start-stop control system of the complete set of coal tunnel rapid excavation equipment according to any one of claims 1 to 5; the method comprises: The communication detection unit detects the communication status between the centralized controller and the plurality of stand-alone devices, and the communication status between the centralized controller and the human-computer interaction interface; When the communication status between the centralized controller and the multiple stand-alone devices is normal, and the communication status between the centralized controller and the human-computer interaction interface is normal, setting the start and stop sequence of the multiple stand-alone devices by the initialization parameter setting unit; The main centralized control panel receives a first operation on the mode selection button, generates the linkage working mode button information, and the centralized controller switches the working mode to the linkage working mode according to the linkage working mode button information; The main centralized control panel receives an operation on the one-button start / stop button and generates the one-button start / stop button information. The centralized controller performs coordinated start / stop control on the multiple stand-alone devices in the start / stop sequence according to the one-button start / stop button information.

7. The method according to claim 6, characterized in that The one-button start-stop button includes a one-button start button and a one-button stop button; the main centralized control panel receives the operation of the one-button start-stop button, generates the one-button start-stop button information, and the centralized controller performs coordinated start-stop control on the multiple stand-alone devices according to the start-stop sequence according to the one-button start-stop button information, including: The main centralized control panel receives an operation on the one-key start button and generates the one-key start button information. The centralized controller performs one-key start control on the multiple stand-alone devices in the start-stop sequence according to the one-key start button information.

8. The method according to claim 7, characterized in that The main centralized control panel receives an operation on the one-key start / stop button, generates the one-key start / stop button information, and the centralized controller performs coordinated start / stop control on the multiple stand-alone devices in the start / stop sequence according to the one-key start / stop button information, including: The main centralized control panel receives an operation on the one-key stop button and generates the one-key stop button information. The centralized controller performs one-key stop control on the multiple stand-alone devices in the start-stop sequence according to the one-key stop button information.

9. The method according to claim 8, characterized in that The centralized controller performs one-key stop control on the multiple stand-alone devices according to the one-key stop button information and the start-stop sequence, including: The transportation of the plurality of stand-alone devices is controlled and the No. 1 belt is stopped after running for a preset time.

10. The method according to claim 6, characterized in that The method further comprises: The main centralized control panel receives a second operation on the mode selection button, generates the stand-alone working mode button information, and the centralized controller switches the working mode to the stand-alone working mode according to the stand-alone working mode button information; The sub-centralized control panel receives the operation of the single-machine control button and generates the single-machine control button information. The centralized controller controls the corresponding single-machine device according to the single-machine control button information.

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