Method for controlling forward movement of reversed loader based on multi-device fusion control

Abstract

The invention relates to a multi-device fusion control reversed loader forward movement control method. The method comprises the steps that a controller is installed on each device; manually configuring an equipment type and an equipment address; a parameter management module in the controller automatically stores equipment type and address information; the method comprises the following steps of: configuring an action process of each device into a JSON format file according to an actual forward process of a coal mine site; uploading the JSON file to each equipment controller and an end gateway, and receiving and storing the JSON file by a storage module; the starting mode comprises a single-frame starting mode and a machine-following linkage mode; after the end gateway receives the starting signal, the forward function parameters are obtained from the database, and it is determined that corresponding equipment in the current stage needs to participate in the forward technological process; the gateway sends an action instruction to corresponding equipment through a GRPC protocol, and after each equipment controller receives the action instruction, corresponding automatic actions are added into an action executor, and the corresponding actions are executed according to a flow sequence configured by the automatic actions; and the end gateway establishes heartbeat connection with each equipment controller.

Description

Technical Field

[0001] The present application relates to the field of intelligent control of coal mines, and more specifically, to a method for controlling forward movement of a transfer machine with integrated control of multiple devices. Background Art

[0002] In the mining process of intelligent comprehensive mining face, as the working face advances, the equipment along the line such as the transfer machine, crusher, scraper, belt, and advance support need to move forward synchronously. The forward movement of the transfer machine is an indispensable part of the coal mining process, but due to the large size of the transfer machine equipment, the forward movement force sources of different models of transfer machines are different, and the linkage of the advance support or the end support may be required. Therefore, the equipment linkage control process of the forward movement of the transfer machine varies in complexity. In the process of equipment forward movement, it is usually necessary for multiple operators to cooperate with each other, which cannot be completed by a single person. This not only increases the input of underground coal mine personnel, but also increases the potential safety hazards.

[0003] At present, the forward movement of the transfer machine in the intelligent fully mechanized mining face is mainly completed based on the electro-hydraulic control system. The specific operation process is as follows: An operator is arranged at the transfer machine section and the end section respectively.

[0004] When the coal mining machine is cutting coal and moving to the front and rear of the machine, after the end bracket and the machine pulling frame are completed, the transfer machine personnel and the end head personnel communicate and cooperate through light language.

[0005] The operator of the end section operates the end section support to perform the pushing and sliding action at the same time, and the personnel of the transfer machine section operates the transfer machine or the advance support to perform the forward movement action.

[0006] With the cooperation of both, the transfer machine is pushed forward.

[0007] Once an abnormal situation occurs, operators can only notify each other through light language or shouting, and need to run back and forth, which increases safety risks and reduces work efficiency.

[0008] Disadvantages of existing technology: Dependence on manpower: Existing solutions mainly rely on manual operations and lack intelligent control.

[0009] Complex operation: The operation process is relatively complicated, requiring multiple operators to cooperate with each other, which increases the manpower input.

[0010] Low safety: Operators need to communicate and run frequently, which increases the risk of personal safety.

[0011] Inefficiency: Manual operation leads to low work efficiency, affecting the overall mining efficiency of the fully mechanized mining face. Summary of the invention

[0012] The purpose of this application is to provide a transfer machine forward movement control method with multi-device fusion control to solve the problems in the prior art.

[0013] The method for controlling the forward movement of a transfer machine by integrating control of multiple devices comprises the following steps: installing a controller on each device; Manually configure the device type and device address through the controller's visual configuration interface; The parameter management module inside the controller automatically saves the device type and address information, and keeps it saved after power failure; According to the actual forward movement process at the coal mine site, the action flow of each device is configured into a JSON format file; Upload the configured JSON file to each device controller and terminal gateway, and the storage module receives and saves it; There are two starting modes: single-frame starting and follow-up starting. Single rack start: The operator starts the forward movement signal of the transfer machine through the controller, and the signal is sent to the terminal gateway through the inter-rack link data processing module; Machine linkage: The end gateway automatically triggers the forward movement process of the transfer machine according to the forward movement function parameters and the position of the coal machine; After receiving the start signal, the end gateway obtains the forward movement function parameters from the database and determines that the corresponding equipment in the current stage needs to participate in the forward movement process; The gateway sends action instructions to the corresponding device through the GRPC protocol; After receiving the action instruction, each device controller adds the corresponding automatic action to the action executor and executes the corresponding action according to the process sequence of the automatic action configuration; The end gateway establishes a heartbeat connection with each device controller to monitor the execution status of the action in real time; Once a timeout or abnormal situation occurs, the heartbeat connection is disconnected and the data gateway immediately terminates the forwarding process of the transfer machine; The operator can press the emergency stop button on any equipment controller. The emergency stop signal will be broadcast to the entire electro-hydraulic control system through the CAN protocol, and all equipment will immediately stop the action. After receiving the emergency stop signal, the data gateway will immediately stop the forward movement process of the transfer machine and restore the initial state.

[0014] Furthermore, a controller is installed on each device; the devices include an end bracket, an advance bracket, a belt conveyor tail, and a transfer machine.

[0015] Further, manually configuring the device type and device address includes: In the configuration interface, select the "Device Type" option and select the type of the current device from the drop-down menu; After confirming the selected device type, click the "Save" button, and the parameter management module inside the controller will save the device type information to the storage module; In the configuration interface, select the "Device Address" option and enter the unique address number of the current device; After confirming the input device address, click the "Save" button, and the parameter management module inside the controller will save the device address information to the storage module.

[0016] Furthermore, the operator selects to start the forward movement function of the transfer machine through the UI human-machine interaction interface of the controller; The operator clicks the "Start" button, and the parameter management module inside the controller receives the start command; The parameter management module inside the controller generates a start signal and encapsulates it into a standard communication protocol format; The signal is sent to the inter-rack link data processing module through the interface module of the controller; The inter-rack link data processing module is responsible for transmitting the start signal to the terminal gateway through the inter-rack connection communication network; The end gateway receives the start signal through the inter-rack link data processing module; The end gateway analyzes the received signal and extracts the start command and related parameters; The terminal gateway obtains the forward function parameters from the database, including device type, device address, and action flow information.

[0017] Furthermore, the end gateway automatically triggers the forward movement of the transfer machine according to the forward movement function parameters and the position of the coal machine. The process flow includes: the end gateway continuously monitors the position and working status of the coal machine; When the coal machine position reaches the preset follow-up trigger stage, the terminal gateway obtains the forward movement function parameters from the database; According to the forward function parameters, determine the equipment that needs to participate in the forward process at the current stage to ensure that each equipment can perform the corresponding actions as needed; The terminal gateway sends action instructions to the corresponding equipment through the GRPC protocol, triggering the forward movement process of the transfer machine.

[0018] Furthermore, the gateway sends action instructions to the corresponding device through the GRPC protocol, including: The terminal gateway generates an action instruction according to the forward function parameters; The end gateway obtains the forward function parameters from the database. The forward function parameters include device type, device address, and action flow. According to the forward function parameters, the gateway generates specific action instructions. The instructions include the specific actions and their sequence that each device needs to perform. The action instructions are sent to the corresponding device controller through the GRPC protocol.

[0019] Further, after receiving the action instruction, each device controller adds the corresponding automatic action to the action executor, and executes the corresponding action in the process sequence configured by the automatic action, including: after receiving the action instruction, each device controller parses the instruction content and determines the automatic action to be executed; The controller adds the parsed automatic action to the action executor; The action executor executes each basic action in sequence according to the process sequence of the automatic action configuration; The execution time of each basic action is controlled by the time base inside the controller to ensure the synchronization of actions between different devices; During the execution process, the controller monitors the action execution status in real time to ensure that each action is executed as planned.

[0020] The beneficial effects of this application are as follows: Through intelligent and automated control, the efficiency and safety of the forward movement of the fully mechanized mining face transfer machine have been significantly improved. The following are its core technical effects: Multi-device integrated control: Device type and address management: By adding a controller to each device and specifying the device type and device address through the controller's visual configuration, accurate management and control of different devices is achieved.

[0021] Action process management: A visual configuration scheme for the action process is designed. According to the actual forward movement process of different mines, the action process of each device is configured into a JSON format file to achieve diversified configuration of the process flow.

[0022] Centralized control and automation: Operation management system: It uses high-performance main processor and auxiliary MCU, combined with HMI modules and other components to realize data collection, processing and human-computer interaction. The combination of Gigabit vehicle Ethernet and CAN bus ensures the stability and real-time performance of data transmission.

[0023] Diversified startup methods: Supports single-frame startup and machine-following linkage, which reduces manpower input and improves operational flexibility and efficiency.

[0024] High reliability and fault tolerance mechanism: Fault-tolerant mechanism: During the forward movement of the transfer machine, the action execution status is monitored in real time through the heartbeat connection. Once a timeout or abnormal situation occurs, the process is terminated immediately to ensure stable operation of the system.

[0025] Emergency stop function: Press the emergency stop button on any equipment controller, and the emergency stop signal will be broadcast to the entire electro-hydraulic control system through the CAN protocol. All equipment will stop moving immediately to ensure personnel safety.

[0026] Parameter configuration and protection: Diversified parameter types: Parameters are divided into local parameters and global parameters, with three-level password protection to ensure that parameters are not changed at will, ensuring the reliability and security of the system.

[0027] Automatic action condition control: Automatic actions can be configured with prerequisites and trigger events, and sensor data can be associated with automatic actions to achieve flexible action control. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solution of the embodiment of the present application, the following is a brief introduction to the drawings required for use in the embodiment: Figure 1 This is a block diagram of the equipment involved in this application; Figure 2 It is the framework of the control system involved in this application. DETAILED DESCRIPTION

[0029] In order to make the technical purpose, technical solution and beneficial effects of the present application clearer, the technical solution of the present application is further described below in conjunction with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application, that is, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application described and shown in the drawings are usually arranged and designed in various different configurations.

[0030] In a specific implementation, the present application discloses a forward control method of a transfer machine with multi-device fusion control, including: Device type and address configuration: Install the controller on each device; Install the controller on each piece of equipment, including but not limited to the end bracket, advance bracket, belt conveyor tail, transfer machine, etc.

[0031] The controller uses the PhyCORE-i.MX 6ULL ​​module as the main processor and the STM32F427 chip as the auxiliary MCU. It is equipped with an HMI module, a main control module, and an interface module to realize various functions such as sensor data acquisition, human-computer interaction, and data processing.

[0032] The internal power supply circuit adopts dual power supply, and the main control and port power supply are separated to ensure that the controller main control unit is not affected by abnormal conditions of external sensor equipment.

[0033] Manually configure the device type and device address through the controller's visual configuration interface; Manually configure the device type and device address: Device type configuration: In the configuration interface, select the "Equipment Type" option and select the type of current equipment from the drop-down menu (for example: end bracket, advance bracket, belt conveyor tail, transfer machine).

[0034] After confirming the selected device type, click the "Save" button, and the parameter management module inside the controller will save the device type information to the storage module.

[0035] Device address configuration: In the configuration interface, select the "Device Address" option and enter the unique address number of the current device (for example: 101, 202, 303, etc.).

[0036] After confirming the input device address, click the "Save" button, and the parameter management module inside the controller will save the device address information to the storage module.

[0037] The parameter management module inside the controller automatically saves the device type and address information, and keeps it saved after power failure; Action flow configuration: According to the actual forward movement process at the coal mine site, the action flow of each device is configured into a JSON format file; It uses JSON format and contains the following main fields: Equipment type: specifies the type of equipment, such as "end bracket", "advanced bracket", "belt conveyor tail", "transfer machine", etc.

[0038] Device Address: Specifies the address of the device, which is used to uniquely identify each device.

[0039] Action stage: The forward movement process of the transfer machine is divided into multiple stages, and the equipment in each stage performs automatic actions simultaneously.

[0040] Automatic actions: The specific automatic actions that the equipment needs to perform in each stage, including basic actions and their execution time and conditions.

[0041] Stage timeout: The maximum allowed execution time of each stage. If this time is exceeded, it is considered a timeout.

[0042] Upload the configured JSON file to each device controller and terminal gateway, and the storage module receives and saves it; Startup method selection: There are two starting modes: single-frame starting and follow-up starting. Single rack start: The operator starts the forward movement signal of the transfer machine through the controller, and the signal is sent to the terminal gateway through the inter-rack link data processing module; Operator start signal: The operator selects the function of starting the forward movement of the transfer machine through the controller's UI human-machine interaction interface.

[0043] The operator clicks the "Start" button, and the parameter management module inside the controller receives the start command.

[0044] Signal Generation and Processing: The parameter management module inside the controller generates a start signal and encapsulates it into a standard communication protocol format (such as CAN protocol or GRPC protocol).

[0045] The signal is sent to the inter-rack link data processing module through the interface module of the controller.

[0046] Inter-rack link data processing: The inter-rack link data processing module is responsible for transmitting the start signal to the terminal gateway through the inter-rack connection communication network (Gigabit vehicle Ethernet and CAN bus).

[0047] The data processing module ensures the integrity and real-time nature of the signal and avoids signal loss or delay.

[0048] The terminal gateway receives the signal: The end gateway receives the start signal through the inter-rack link data processing module.

[0049] The terminal gateway analyzes the received signal and extracts the startup command and related parameters.

[0050] Get the parameters of the forward function: The terminal gateway obtains the forward function parameters from the database, including device type, device address, action flow and other information.

[0051] The end gateway determines which equipment needs to participate in the forward movement process at the current stage based on the forward movement function parameters.

[0052] Machine linkage: The end gateway automatically triggers the forward movement process of the transfer machine according to the forward movement function parameters and the position of the coal machine; When the coal machine position reaches the preset follow-up trigger stage, the terminal gateway obtains the forward movement function parameters from the database to ensure that all necessary parameters and configurations are ready.

[0053] According to the forward function parameters, determine which equipment needs to participate in the forward process at the current stage to ensure that each equipment can perform corresponding actions as needed.

[0054] The terminal gateway sends action instructions to the corresponding equipment through the GRPC protocol, triggering the forward process of the transfer machine to ensure the accurate transmission and execution of the action instructions.

[0055] Action Execution: After receiving the start signal, the end gateway obtains the forward movement function parameters from the database and determines that the corresponding equipment in the current stage needs to participate in the forward movement process; The gateway sends action instructions to the corresponding device through the GRPC protocol; The terminal gateway generates action instructions based on the forward function parameters.

[0056] The end gateway obtains the forward function parameters from the database, which include device type, device address, action flow, etc. Based on these parameters, the gateway generates specific action instructions, which contain the specific actions and their sequence that each device needs to perform.

[0057] The action instructions are sent to the corresponding device controller through the GRPC protocol.

[0058] GRPC (gRPC) is a high-performance, open-source Remote Procedure Call (RPC) framework that supports multiple programming languages. In the present invention, the terminal gateway uses the GRPC protocol to send the generated action instructions to the corresponding device controller. The GRPC protocol provides efficient data transmission and low latency characteristics, ensuring that the action instructions can be delivered to the target device quickly and accurately.

[0059] After receiving the action instruction, each device controller adds the corresponding automatic action to the action executor and executes the corresponding action according to the process sequence of the automatic action configuration; After receiving the action instruction, each device controller analyzes the instruction content and determines the automatic action to be performed.

[0060] The controller adds the parsed automatic action to the action executor.

[0061] The action executor executes each basic action in sequence according to the process sequence of the automatic action configuration.

[0062] The execution time of each basic action is controlled by the time base inside the controller to ensure the synchronization of actions between different devices.

[0063] During the execution process, the controller monitors the action execution status in real time to ensure that each action is executed as planned.

[0064] Fault tolerance mechanism configuration: The end gateway establishes a heartbeat connection with each device controller to monitor the execution status of the action in real time; The end gateway establishes a communication connection with each device controller through a heartbeat connection and sends a heartbeat signal regularly. The frequency of the heartbeat signal can be configured according to actual needs, for example, once per second.

[0065] After receiving the heartbeat signal, each device controller immediately returns a response signal to confirm its own status. The response signal contains the current status information of the device, such as the progress of the action execution and whether there is a fault.

[0066] The end gateway updates the action execution status and progress of each device in real time based on the returned response signal. Through this information, the end gateway can promptly detect and handle abnormal situations to ensure the smooth progress of the process.

[0067] Once a timeout occurs (for example, a device controller does not return a response signal within the specified time), the heartbeat connection is disconnected, and the data gateway immediately terminates the forward transfer process. The specific operations of terminating the process include stopping the actions of all devices, recording the current status, generating alarm information, and notifying the operator to check and handle.

[0068] The operator can press the emergency stop button on any equipment controller. The emergency stop signal will be broadcast to the entire electro-hydraulic control system through the CAN protocol, and all equipment will immediately stop the action. After receiving the emergency stop signal, the data gateway will immediately stop the forward movement process of the transfer machine and restore the initial state.

[0069] The forward control method of the transfer machine with multi-device fusion control also includes parameter configuration and protection: The controller parameters are divided into local parameters and global parameters, with three levels of password protection; Local parameters: used to specify the device type and device address. These parameters are only effective locally and cannot be updated and synchronized to other device controllers. Local parameters include but are not limited to device type, device address, etc.

[0070] Global parameters: general parameters used to configure the forward movement function of the transfer machine. These parameters need to be consistent on all devices and can be updated synchronously to the electric control devices of the entire working surface through the MQTT protocol. Global parameters include but are not limited to the trigger point of the follow-up machine linkage, action execution time, etc.

[0071] Use the UI human-computer interaction interface to set parameters, and the parameter management module receives and saves them to the storage module; The parameter settings can be controlled and can only be set within the allowed range, otherwise the original parameter values ​​remain unchanged.

[0072] In terms of implementation details, this application includes: 1. Equipment type and address management: The equipment of the fully mechanized mining face is complex, including hydraulic supports, three-machine system, belt conveyor, coal mining machine, etc. In the forward transfer plan, if Figure 1As shown, four types of equipment, including 1 end bracket, 2 leading bracket, 3 belt tail, and 4 transfer machine, need to participate in linkage control. Different equipment needs to perform different actions and timings. Therefore, a controller is added to each device. Relying on the parameter management module inside the controller, the device type and device address can be specified separately through the visual configuration of the controller.

[0073] 2. Action process management: The forward movement of the transfer machine is a process that is triggered and executed by multiple devices according to the specified process. However, the action process executed by each device is very different, and the forward movement process of different mines is different. Therefore, in order to make the present invention more compatible, we have designed a visual configuration scheme for the action process, which can be configured on-site according to the actual forward movement process of the coal mine site. According to the designed rules, the action process of each device is configured into a JSON format file, which can be used immediately after being uploaded.

[0074] 3. Operation management system: The forward transfer technology mainly relies on the controllers added to each device. The controller uses the PhyCORE-i.MX 6ULL ​​module as the main processor, the STM32F427 chip as the auxiliary MCU, and is equipped with HMI modules, main control modules, and interface modules to realize various functions such as sensor data acquisition, human-computer interaction, and data processing. The internal power supply circuit uses a dual-power supply, and the main control and port power supply are separated to ensure that the controller main control unit is not affected by abnormal conditions of external sensor equipment. The inter-rack connection communication adopts a combination of Gigabit vehicle Ethernet and inter-rack CAN bus. The Gigabit vehicle Ethernet communication link increases the link transmission bandwidth and the inter-rack CAN signal isolation coupling is used to improve the stability and real-time performance of data transmission between equipment and the working face electronic control system. In the technical solution for realizing the forward transfer of the transfer machine, each equipment controller is connected through an inter-rack link. The control signal of any single equipment controller can be synchronously updated to the terminal gateway device, which can realize the single start of the forward transfer process, and can also be linked with the automatic follow-up process of the working face to trigger the forward transfer process of the transfer machine in the follow-up stage.

[0075] 4. Fault-tolerant mechanism: The forward movement process of the transfer machine is a method of multi-device fusion control, which is realized under the premise of stable operation of the system. During the execution of the forward movement process of the transfer machine, the end data gateway, as the central decision maker of the process flow control, will immediately establish a heartbeat connection with the action device after issuing specific action instructions to each device controller, and update the action execution status and execution progress in real time. Once a timeout occurs, the heartbeat connection is disconnected, and the data gateway will immediately terminate the forward movement process of the transfer machine. Secondly, if during the execution process, the on-site staff finds an abnormal situation and the current underground environment is not suitable for the implementation of the forward movement process of the transfer machine, they can press the emergency stop button on any device controller. The emergency stop signal is broadcast through the CAN protocol to cover the entire electro-hydraulic control system, and all equipment immediately terminates the action. After receiving the emergency stop signal, the data gateway immediately terminates the forward movement process of the transfer machine and restores the initial state to ensure the safety of personnel.

[0076] The framework of the control system of the present invention is as follows: Figure 2 As shown; Specific methods include: Configuration of the forward process flow of the transfer machine: confirm the equipment involved in the forward process of the transfer machine in the coal mine and the details of the forward process, complete the configuration of the forward process file of the transfer machine, the forward process of the transfer machine can be divided into multiple stages, the equipment in each stage executes automatic actions at the same time, different equipment executes different automatic actions, and you can also configure which equipment is included in the entire process (that is, the start frame number and the end frame number are limited), the stage timeout time, etc., and then use the maintenance tool to configure the automatic action process set for different equipment, complete the automatic action configuration, specify which basic actions are included in each automatic action, the start time and duration of each basic action, and the relevant prerequisites and trigger events.

[0077] The prerequisite determines whether the current device needs to execute the automatic action command issued by the gateway. If the condition is met, the action command will not be executed. The setting of the prerequisite can be associated with the data of all external sensors and configured according to the actual situation on site.

[0078] A trigger event is to associate certain basic actions in the automatic action with related sensor data. When the sensor data meets the set conditions, it can trigger the execution or stop of the basic action.

[0079] Finally, it is only necessary to connect the computer to the electronic control system, update the forward process files and automatic action files to each equipment controller and the terminal gateway, and the storage module will receive and save them.

[0080] Device type specification and parameter configuration: Controller parameters are divided into local parameters and global parameters, and are password protected. Use the UI human-computer interaction interface to set parameters, which are then received by the parameter management module and saved to the storage module.

[0081] Specify the device type and device address of each device. These parameters are local parameters. They are only effective locally and cannot be updated and synchronized to other device controllers. They are used to distinguish different devices and configure the device address to the forward transfer process of the transfer machine for binding. The forward movement function parameters of the transfer machine are global parameters. All devices should be kept consistent. The MQTT protocol can be used to synchronize and update the electronic control devices of the entire working surface. By adjusting the forward movement function parameters, you can specify which specific devices need to be linked to the forward movement process of the transfer machine, the trigger point for linkage with the machine, and other parameter information; In order to ensure that the parameters are not changed at will and cause the forward movement function of the transfer machine to be disordered, we set three levels of passwords (customizable 6-digit random digital passwords) when setting parameters in the UI human-computer interaction, namely user-level passwords (used by on-site personnel), technician passwords (used by comprehensive mining technicians), and administrator passwords (used by manufacturers). Different levels of passwords are configured according to parameter types and importance. In addition, the parameter settings can be controlled. Only parameter values ​​within the allowable range can be saved successfully, otherwise the original parameter values ​​remain unchanged.

[0082] Action flow time control adjustment: Different devices execute different automatic action flows, and each automatic action flow contains one or more basic actions. Each basic action is triggered by time, and the start time and execution time can be specified. Such time parameters are synchronized to each device controller and can be set through the controller UI human-computer interaction interface, which is convenient to operate.

[0083] Since the forward movement process of the transfer machine is uniformly controlled by the data gateway, action instructions are issued to different devices according to the process flow to ensure the normal connection of the process flow. The time base for each device to perform automatic actions after receiving the action instruction is based on the system time of its own controller, avoiding abnormal situations in the forward movement process caused by time asynchrony between different devices; 4. Trigger mode selection: The present invention allows two modes: single-frame startup and machine linkage.

[0084] The internal program of each equipment controller continuously monitors the trigger start signal. Once started, the parameter management module inside the operated equipment controller automatically sends this control signal to the terminal gateway device through the inter-rack link data processing module. After obtaining this control signal, the terminal gateway obtains the forward movement function parameters from the database, and determines which equipment needs to participate in the forward movement process at the current stage according to the forward movement process file configuration of the transfer machine. The gateway sends the action instruction to the corresponding equipment through the GRPC protocol. After receiving the trigger signal, the controller adds the corresponding automatic action to the action executor. The controller will execute the corresponding action in the process sequence of the automatic action configuration until it ends.

[0085] The following-machine linkage method is to put the automated following-machine function into the working face. After the following-machine linkage function is enabled, the end gateway obtains the forward movement function parameters. When the following-machine stage and the coal machine position meet the triggering conditions, the end gateway will automatically trigger the forward movement process of the transfer machine without manual operation.

[0086] The key points of the present invention are: 1. The equipment in the fully mechanized mining face is complex and diverse. The equipment and quantity that need to be linked during the forward movement of the transfer machine cannot be unified. Multiple equipment types are created to distinguish different equipment. The equipment type selection and equipment address configuration can be manually configured directly on the controller human-machine interface. The internal parameter processing module of the controller is automatically saved in the storage area and saved even when the power is off; 2. The forward process of the transfer machine can be configured in a diversified manner. The corresponding automatic action flow can be configured according to different equipment types and equipment addresses. The process file binds the equipment address, equipment type and action flow to achieve diversified process configuration.

[0087] 3. The starting methods are diversified. The starting methods are divided into single-frame starting and follow-up linkage. Single-frame starting means that the equipment controller starts the forward movement signal of the transfer machine and sends it to the gateway. The gateway starts the forward movement process and exits after the execution. The follow-up linkage can set the follow-up trigger stage and the coal machine position. When the two conditions are met at the same time, the forward movement process of the transfer machine is triggered. The two starting methods reduce the input of personnel in the coal mine, and can be operated by one person. The follow-up linkage function can further improve the efficiency of the forward movement of the transfer machine and reduce personnel intervention.

[0088] 4. Diversified parameter types and password protection: The flexible use of the forward transfer function of the transfer machine is inseparable from the reliable configuration of parameters. To prevent the parameters from being changed at will, different protection passwords are set according to the parameter type and importance. Parameters are divided into local and global, which can be applied to different functional requirements.

[0089] 5. Unified control of the forward transfer process: The number of devices and quantities that need to be linked during the forward transfer process cannot be unified. In order to ensure the normal execution of the forward transfer function and reduce the impact of objective uncertainties, such as the time of each device is not synchronized, and the total time for each device to execute actions is different, we have designed a method in which the terminal data gateway controls the unified process and makes central decisions. Each device only needs to receive action instructions and execute actions according to conditions for control. In many actual use scenarios, the application of this method has also gradually shown results.

[0090] 6. Automatic action condition control: Automatic actions can be configured with prerequisites and trigger events, and sensor data or related parameters can be associated with automatic actions and certain basic actions in automatic actions. When each device receives an action instruction, it can decide whether to execute the automatic action or one or more basic actions based on whether the current sensor data or related parameters meet the action conditions, so as to meet the flexible control of single device actions on site.

[0091] The present invention is developed and designed based on the original electro-hydraulic control system, which can realize a set of transfer machine forward movement schemes with configurable and optimizable process flow, simple operation, centralized control, multi-device fusion control, and less impact of objective factors. It supports single-frame startup or follow-up linkage, and personnel operation is simple and fast. The follow-up linkage function realizes the follow-up control of the transfer machine and the working face without manual operation, which reduces the input of underground coal mine personnel to a certain extent, improves the intelligence level and mining efficiency of the comprehensive mining working face, and reduces personnel safety risks.

Claims

1. A multi-device integrated control method for forward movement of a transfer machine, characterized in that: The steps include: Install the controller on each device; Manually configure the device type and device address through the controller's visual configuration interface; The parameter management module inside the controller automatically saves the device type and address information, and keeps it saved after power failure; According to the actual forward movement process at the coal mine site, the action flow of each device is configured into a JSON format file; Upload the configured JSON file to each device controller and terminal gateway, and the storage module receives and saves it; There are two starting modes: single-frame starting and follow-up starting. Single rack start: The operator starts the forward movement signal of the transfer machine through the controller, and the signal is sent to the terminal gateway through the inter-rack link data processing module; Machine linkage: The end gateway automatically triggers the forward movement process of the transfer machine according to the forward movement function parameters and the position of the coal machine; After receiving the start signal, the end gateway obtains the forward movement function parameters from the database and determines that the corresponding equipment in the current stage needs to participate in the forward movement process; The gateway sends action instructions to the corresponding device through the GRPC protocol; After receiving the action instruction, each device controller adds the corresponding automatic action to the action executor and executes the corresponding action according to the process sequence of the automatic action configuration; The end gateway establishes a heartbeat connection with each device controller to monitor the execution status of the action in real time; Once a timeout or abnormal situation occurs, the heartbeat connection is disconnected and the data gateway immediately terminates the forwarding process of the transfer machine; The operator can press the emergency stop button on any equipment controller. The emergency stop signal will be broadcast to the entire electro-hydraulic control system through the CAN protocol, and all equipment will immediately stop moving. After receiving the emergency stop signal, the data gateway will stop the forward movement process of the transfer machine and restore the initial state.

2. The method for controlling the forward movement of a transfer machine by integrating control of multiple devices according to claim 1, characterized in that: A controller is installed on each device, including the end bracket, advance bracket, belt conveyor tail, and transfer machine.

3. The method for controlling the forward movement of a transfer machine by integrating control of multiple devices according to claim 1, characterized in that: Manual configuration of device type and device address includes: In the configuration interface, select the "Device Type" option and select the type of the current device from the drop-down menu; After confirming the selected device type, click the "Save" button, and the parameter management module inside the controller will save the device type information to the storage module; In the configuration interface, select the "Device Address" option and enter the unique address number of the current device; After confirming the input device address, click the "Save" button, and the parameter management module inside the controller will save the device address information to the storage module.

4. The method for controlling the forward movement of a transfer machine by integrating control of multiple devices according to claim 1, characterized in that: The operator selects the function of starting the forward movement of the transfer machine through the controller's UI human-machine interaction interface; The operator clicks the "Start" button, and the parameter management module inside the controller receives the start command; The parameter management module inside the controller generates a start signal and encapsulates it into a standard communication protocol format; The signal is sent to the inter-rack link data processing module through the interface module of the controller; The inter-rack link data processing module is responsible for transmitting the start signal to the terminal gateway through the inter-rack connection communication network; The end gateway receives the start signal through the inter-rack link data processing module; The end gateway analyzes the received signal and extracts the start command and related parameters; The terminal gateway obtains the forward function parameters from the database, including device type, device address, and action flow information.

5. The method for controlling the forward movement of a transfer machine by integrating control of multiple devices according to claim 1, characterized in that: The end gateway automatically triggers the forward movement of the transfer machine according to the forward movement function parameters and the position of the coal machine. The process includes: the end gateway continuously monitors the position and working status of the coal machine; When the coal machine position reaches the preset follow-up trigger stage, the terminal gateway obtains the forward movement function parameters from the database; According to the forward function parameters, determine the equipment that needs to participate in the forward process at the current stage to ensure that each equipment can perform the corresponding actions as needed; The terminal gateway sends action instructions to the corresponding equipment through the GRPC protocol, triggering the forward movement process of the transfer machine.

6. The method for controlling the forward movement of a transfer machine by integrating control of multiple devices according to claim 1, characterized in that: The gateway sends action instructions to the corresponding device through the GRPC protocol, including: The terminal gateway generates an action instruction according to the forward function parameters; The end gateway obtains the forward function parameters from the database. The forward function parameters include device type, device address, and action flow. According to the forward function parameters, the gateway generates specific action instructions. The instructions include the specific actions and their sequence that each device needs to perform. The action instructions are sent to the corresponding device controller through the GRPC protocol.

7. The method for controlling the forward movement of a transfer machine by integrating control of multiple devices according to claim 1, characterized in that: After receiving the action instruction, each device controller adds the corresponding automatic action to the action executor, and executes the corresponding action in the process sequence of the automatic action configuration, including: after receiving the action instruction, each device controller parses the instruction content and determines the automatic action to be executed; The controller adds the parsed automatic action to the action executor; The action executor executes each basic action in sequence according to the process sequence of the automatic action configuration; The execution time of each basic action is controlled by the time base inside the controller to ensure the synchronization of actions between different devices; During the execution process, the controller monitors the action execution status in real time to ensure that each action is executed as planned.

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