Control method of fully mechanized coal mining face support controller and related device

Abstract

The invention relates to the technical field of hydraulic support intelligent control, and provides a control method of fully mechanized coal mining face support controllers and a related device, and the control method comprises the steps: dividing a plurality of support controllers of a fully mechanized coal mining face into master nodes and slave nodes based on a voting process; the slave node obtains first key information and sends the first key information to the master node; the main node determines second key information based on the received first key information; and the master node broadcasts the second key information to all the slave nodes. Through a decentration scheme, the target is positioned to the key information which affects the stability of the system, only the content involved in the key information log is broadcasted to the slave node, the broadcast content is reduced, and the broadcasting speed and accuracy can be improved. All the controllers of the working face cooperate with each other, even if a certain node breaks down, the system can still run continuously, the robustness of the system is improved, and the collapse risk of the system is reduced.

Description

Technical Field

[0001] The present disclosure relates to the technical field of intelligent control of hydraulic supports, and in particular to a control method and related devices for a support controller for a fully mechanized mining working face. Background Art

[0002] The electro-hydraulic control system is one of the important equipment for realizing the intelligence of coal mines. With the continuous improvement of the intelligent production level of coal mine production, the reliability and stability requirements for the integration of the controller of the fully-mechanized mining face are getting higher and higher. The faults of the fully-mechanized mining face controller can be classified into sensor perception faults, communication faults, attitude control faults, etc. according to the equipment. The characteristics of the electro-hydraulic control communication system of the hydraulic support are a large number of nodes, a long communication distance, a large amount of information, and high reliability requirements. The control method in the prior art mainly adopts the method of collecting sensor information and uploading it to the centralized control center for unified analysis. However, the communication link of the fully-mechanized mining face is transmitted in succession. If a node is damaged, the information before the node cannot be transmitted to the centralized control center. If it is handled only by the centralized control center, the entire control system may not work properly when the communication of the centralized control center is interrupted. In addition, the communication conditions of the fully-mechanized mining face are poor, and it is easy to be affected by electromagnetic interference. Abnormal communication often occurs, which easily causes the emergency stop frame numbers displayed at multiple emergency stops on the working face to be inconsistent, and the follow-up information of each support controller is inconsistent, resulting in the occurrence of malfunctions, posing a threat to the safe production of the working face. How to solve the above problems and improve the stability of controller operation is an issue that needs to be addressed urgently. Summary of the invention

[0003] The present disclosure aims to at least solve the technical problems existing in the prior art of relying solely on a centralized control center to handle the problem, which may easily lead to inconsistent emergency stop frame numbers displayed at multiple locations on the working face, and inconsistent follow-up information of each support controller, resulting in erroneous operations, posing a threat to safe production on the working face.

[0004] To this end, an object of the present disclosure is to propose a control method for a fully mechanized mining working face support controller, the control method for the fully mechanized mining working face support controller comprising:

[0005] Based on the voting process, multiple support controllers of the fully mechanized mining face are divided into master nodes and slave nodes;

[0006] The slave node obtains the first key information and sends it to the master node;

[0007] The master node determines second key information based on the received first key information;

[0008] The master node broadcasts the second key information to all the slave nodes.

[0009] In some embodiments, dividing multiple support controllers of a fully mechanized mining face into master nodes and slave nodes based on a voting process includes:

[0010] The master node sends a heartbeat signal to the slave node at a preset time interval;

[0011] When a first slave node among the slave nodes fails to receive the heartbeat signal within the preset time, the first slave node initiates a voting election request;

[0012] The slave node responds to the voting request based on a preset voting rule and sends voting information to the first slave node;

[0013] The first slave node elects a new master node based on the voting result.

[0014] In some embodiments, the first slave node electing a new master node based on the voting result includes:

[0015] When the number of votes obtained by some of the slave nodes participating in the voting election exceeds two-thirds of the number of the slave nodes participating in the voting election, determining the master node data set to be elected;

[0016] A new master node is determined based on the numerical value of the bracket serial number in the candidate master node data set.

[0017] In some embodiments, the master node determines the second key information based on the received first key information, including:

[0018] The master node compares the received first key information with the third key information acquired by the master node;

[0019] The second key information is determined based on the comparison result.

[0020] In some embodiments, the second key information is determined based on consistency between the first key information and the third key information.

[0021] In some embodiments, the first key information and the second key information include at least emergency stop information and follow-up information.

[0022] In some embodiments, before dividing the multiple support controllers of the comprehensive mining face into master nodes and slave nodes based on the voting election process, it also includes: designating one of the support controllers as the master node and the other support controllers as slave nodes.

[0023] Another object of the present disclosure is to provide a control device for a fully mechanized mining face support controller, comprising:

[0024] A classification module, used to divide multiple support controllers of the fully mechanized mining face into master nodes and slave nodes based on a voting process;

[0025] An acquisition and sending module, used for the slave node to acquire the first key information and send it to the master node;

[0026] A determination module, configured for the master node to determine second key information based on the received first key information;

[0027] A broadcast module is used for the master node to broadcast the second key information to all the slave nodes.

[0028] Another object of the present disclosure is to provide a storage medium storing a computer program, wherein the computer program implements the steps of the above method when executed by a processor.

[0029] Another object of the present disclosure is to provide an electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps of the above method when executing the computer program in the memory.

[0030] The control method and related device of a fully mechanized mining face support controller provided by the embodiment of the present disclosure have the following beneficial effects:

[0031] (1) Through the decentralized solution, the target is positioned on the key information that affects the stability of the system. Only the content involved in the key information log is broadcast to the slave nodes. The broadcast content is reduced to a small amount, which can improve the broadcast speed and accuracy; all support controllers in the comprehensive mining face operate independently, both as the main controller and the slave controller. Adjacent frames can control each other without interfering with each other. Even if a node fails, the system can still continue to operate, improving the system robustness and reducing the risk of system crash.

[0032] (2) Each rack controller can be used as a master controller or a slave controller. Even if the number of rack controllers and the amount of data increase, the increase in the number of rack controllers will not make the system more complex, thereby improving the scalability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0034] Figure 1is a flow chart of steps of a control method of a fully mechanized mining face support controller in an embodiment of the present disclosure;

[0035] Figure 2 is a flow chart of steps of a control method of a fully mechanized mining face support controller in an embodiment of the present disclosure;

[0036] Figure 3 It is a step flow chart of the control method of the comprehensive mining working face support controller in the embodiment of the present disclosure. DETAILED DESCRIPTION

[0037] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0038] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0039] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0040] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the attached drawings.

[0041] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0042] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0043] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0044] The first embodiment of the present disclosure provides a control method for a fully mechanized mining face support controller, such as Figure 1-Figure 3 As shown, the control method includes:

[0045] In the initial state, one of the plurality of rack controllers is designated as a master node, and the other rack controllers are slave nodes. The decentralized algorithm is simplified, and a large amount of computing resources are saved by means of designating a master node.

[0046] S100: Based on the voting process, multiple support controllers of the fully mechanized mining face are divided into master nodes and slave nodes. Specifically, it includes:

[0047] S101: The master node sends a heartbeat signal to the slave node at a preset time interval.

[0048] S102: When a first slave node among the slave nodes does not receive the heartbeat signal within the preset time, the first slave node initiates a voting election request.

[0049] The heartbeat signal lets the other party know that it is "online" to ensure the validity of the connection and is used to detect network connectivity. If the heartbeat signal does not receive the expected response, the bracket can determine that the link has been disconnected. There are many ways to implement the heartbeat mechanism. The heartbeat mechanism used here is a one-way heartbeat. The sender (master node) regularly sends a heartbeat signal to the receiver (slave node), but the receiver does not reply. For example, the master node sends a heartbeat signal to the slave node every 1s. When one of the slave nodes (the first slave node) does not receive the heartbeat signal for more than 1s, it means that the link between the master node and the first slave node is disconnected. If the current master node continues to be the master node, it is easy to cause misoperation. Therefore, the current master node no longer has the "leadership" status as the master node, and the first slave node initiates a voting request to elect a new master node.

[0050] S103: The slave node responds to the voting request based on a preset voting rule and sends voting information to the first slave node.

[0051] S104: The first slave node elects a new master node based on the voting result.

[0052] Specifically include:

[0053] S1041: when the number of votes obtained by some of the slave nodes participating in the voting election exceeds two-thirds of the number of the slave nodes participating in the voting election, determining a master node data set to be elected;

[0054] S1042: Determine a new master node based on the numerical value of the bracket serial number in the candidate master node data set.

[0055] When voting is performed here, there may be multiple slave nodes that obtain more than two-thirds of the number of slave nodes participating in the voting. In this case, multiple qualified slave nodes form a data set of candidate master nodes, and the new master node is determined according to the numerical value of the bracket serial number of the slave node in the data set. For example, the slave node with the smallest bracket serial number is determined as the new master node. In this way, a new master node can be elected after the previous master node is disconnected to ensure the connectivity of the link. At the same time, only one new master node can be determined, and there will be no situation where multiple new master nodes appear.

[0056] S200: The slave node obtains first key information and sends it to the master node.

[0057] The first key information includes at least following machine information and emergency stop information. The following machine information here includes whether the following machine stage information of each support controller is consistent and whether the following machine status information determined by each support controller is consistent. Among them, the following machine stage usually refers to the process in which the hydraulic support follows the coal mining machine for automatic control in the fully-mechanized mining face of the coal mine. The following machine stage information refers to the stage of the support guard plate for retracting the coal wall support, the stage of extending the telescopic beam for roof support, the stage of moving the frame, and the stage of pushing the scraper conveyor, etc., determined by the position of the coal mining machine and the coal mining process. The hydraulic support is in the pushing and sliding stage, the pulling stage, the moving stage, etc. The following machine status information refers to the state in which the hydraulic support automatically completes a series of actions according to the position of the coal mining machine and the coal mining process. For example, whether the support is in the pre-control state or the following machine state. The emergency stop information here refers to the state information of the hydraulic support that needs to stop working urgently, including the support serial number and the time when the emergency stop occurs.

[0058] Here, the slave node obtains the first key information and records it in the local log to ensure the integrity of the hydraulic support work record.

[0059] S300: The master node determines second key information based on the received first key information.

[0060] Specifically include:

[0061] S301: The master node compares the received first key information with the third key information obtained by the master node.

[0062] S302: Determine the second key information based on the comparison result.

[0063] The second key information and the third key information here are of the same type as the first key information, and their specific forms of expression may be the same or different.

[0064] The second key information here is determined based on the consistency between the first key information and the third key information. If the first key information is consistent with the third key information, the second key information obtained by processing is the first key information. If the first key information is inconsistent with the third key information, the second key information obtained by processing is the third key information. The first key information and the second key information here can be consistent or inconsistent.

[0065] Furthermore, the master node records the second key information in a key information log, where the key information log refers to a log that records and describes a series of key parameters and indicators of the performance and status of the communication system.

[0066] S400: The master node broadcasts the second key information to all the slave nodes.

[0067] Specifically, the master node broadcasts the second key information to all slave nodes so that all slave nodes have the same key log information, and adjusts the status of each slave node to be consistent to ensure data consistency. For example, if the order and value of the bracket serial number of the bracket emergency stop recorded in the key information log of each slave node are inconsistent. After the slave node receives the first key information sent by the master node, it determines that the first key information is inconsistent with the order and value of the bracket serial number of the bracket emergency stop recorded in the key log of the master node, and uses the second key information recorded in the key log of the master node as the basis for state synchronization and the basis for logical judgment, and converts all slave nodes to the same second key information. Ensure that the data and status of the working face controller are consistent with the master node, thereby avoiding the occurrence of malfunctions. At the same time, it plays a role of backup and redundancy in the system to ensure that the system can still operate even if some nodes fail.

[0068] The goal of this method is not to diagnose all faults, but to locate the key information that affects the stability of the system. Therefore, only the content involved in the key information log is broadcast to the slave nodes. The broadcast content is reduced to a small amount, which can also improve the broadcast speed and accuracy.

[0069] The present invention divides the support controllers in the comprehensive mining working face into master nodes and slave nodes. All support controllers in the working face operate independently, serving as both master controllers and slave controllers. Adjacent frames can control each other without interfering with or affecting each other. Any controller can realize the operation control of the hydraulic supports of the entire working face, ensuring that the system can still operate even if some nodes fail.

[0070] Furthermore, in this embodiment, the control method is mainly used for fault diagnosis of the support controller of the comprehensive mining working face. For the action control of the support controller of the comprehensive mining working face, the centralized control center still adopts the method of unified control and broadcasting to all slave nodes.

[0071] Furthermore, in another embodiment, the control method can be directly applied to the motion control of the support controller of the comprehensive mining working face, effectively avoiding the phenomenon that the emergency stop frame numbers displayed at multiple emergency stops on the working face are inconsistent and the follow-up information of each support controller is inconsistent.

[0072] The following takes the emergency stop information as an example for explanation:

[0073] When a slave node detects that the rack has stopped suddenly, the slave node sends the first key information to the master node, which includes the rack serial number and the time when the sudden stop occurred. After receiving the first key information, if the master node confirms that the information is correct, it records the sudden stop time and rack serial number of the first key information in the key information table, and the master node broadcasts the first key information to all slave nodes, so that all slave nodes record the sudden stop rack serial number and the time when the sudden stop occurred in the above slave node.

[0074] The following takes the first key information as the root machine information as an example for explanation:

[0075] The upper computer of the coal mining machine broadcasts the position of the coal mining machine to each support controller, and obtains the first key information (root machine information, including the following machine stage and following machine status) after calculation from the slave node and sends it to the master node. The master node analyzes based on the first key information and the third key information obtained by the master node. If the first key information and the third key information are consistent, the first key information is broadcast to all slave nodes. If the first key information and the third key information are inconsistent, the third key information is broadcast to all slave nodes. The master node forcibly sends key information to all slave nodes to ensure that the root machine information of all slave nodes is consistent.

[0076] Based on the same inventive concept as the first embodiment above, the second embodiment of the present disclosure provides a control device of a fully mechanized mining face support controller, including the control method of the fully mechanized mining face support controller above, and the system includes:

[0077] A classification module, used to divide multiple support controllers of the fully mechanized mining face into master nodes and slave nodes based on a voting process;

[0078] An acquisition and sending module, used for the slave node to acquire the first key information and send it to the master node;

[0079] A determination module, configured for the master node to determine second key information based on the received first key information;

[0080] A broadcast module is used for the master node to broadcast the second key information to all the slave nodes.

[0081] Furthermore, the classification module includes:

[0082] A signal sending module, used for the master node to send a heartbeat signal to the slave node at a preset time interval;

[0083] A request submitting module, configured to initiate a voting election request by a first slave node among the slave nodes when the first slave node fails to receive the heartbeat signal within the preset time;

[0084] A voting module, configured for the slave node to respond to the voting request based on a preset voting rule and send voting information to the first slave node;

[0085] An election module is used for the first slave node to elect a new master node based on the voting result.

[0086] Furthermore, the election module includes:

[0087] A first determining unit, configured to determine a master node data set to be selected when the number of votes obtained by some of the slave nodes participating in the voting election exceeds two-thirds of the number of the slave nodes participating in the voting election;

[0088] The second determination unit is used to determine a new master node based on the numerical value of the bracket serial number in the candidate master node data set.

[0089] Further, the determination module includes:

[0090] A comparing unit, configured for the master node to compare the first key information received with the third key information acquired by the master node;

[0091] A third determining unit is used to determine the second key information based on the comparison result.

[0092] Further, the third determination unit includes a consistency determination subunit, which is used to determine the second key information based on the consistency between the first key information and the third key information.

[0093] Furthermore, it also includes a designation module for designating one of the rack controllers as a master node and the other rack controllers as slave nodes.

[0094] In this embodiment, the decentralized solution is used to target key information that affects system stability. Only the content involved in the key information log is broadcast to the slave nodes, and the broadcast content is reduced to a small amount, which can improve the broadcast speed and accuracy. All controllers on the working surface cooperate with each other. Even if a node fails, the system can still continue to operate, improving the robustness of the system and reducing the risk of system crash.

[0095] A third embodiment of the present disclosure provides a storage medium storing a computer program. When the computer program is executed by a processor, the steps of implementing the above method include:

[0096] S11: used to divide multiple support controllers of the fully mechanized mining face into master nodes and slave nodes based on a voting process;

[0097] S12: The slave node obtains the first key information and sends it to the master node;

[0098] S13: The master node determines second key information based on the received first key information;

[0099] S14: The master node broadcasts the second key information to all the slave nodes.

[0100] Of course, other steps of the control method can also be used to implement the above embodiment.

[0101] In this embodiment, the decentralized solution is used to locate the key information that affects the stability of the system. Only the content involved in the key information log is broadcast to the slave nodes. The broadcast content is reduced to a small amount, which can improve the broadcast speed and accuracy. All support controllers in the comprehensive mining face operate independently, both as master controllers and slave controllers. Adjacent frames can control each other without interfering with each other. Even if a node fails, the system can still continue to operate, improving the robustness of the system and reducing the risk of system crashes.

[0102] A fourth embodiment of the present disclosure provides an electronic device, the electronic device comprising at least a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the above method when executing the computer program on the memory, specifically comprising:

[0103] S21: used to divide multiple support controllers of the fully mechanized mining face into master nodes and slave nodes based on a voting process;

[0104] S22: The slave node obtains the first key information and sends it to the master node;

[0105] S23: The master node determines second key information based on the received first key information;

[0106] S24: The master node broadcasts the second key information to all the slave nodes.

[0107] Of course, other steps of the control method can also be used to implement the above embodiment.

[0108] In this embodiment, the decentralized solution is used to locate the key information that affects the stability of the system. Only the content involved in the key information log is broadcast to the slave nodes, and the broadcast content is reduced to a small amount, which can improve the broadcast speed and accuracy. The master node compulsorily sends key information to all slave nodes to ensure that the root machine information of all slave nodes is consistent. Even if a node fails, the system can still continue to run, improve system robustness, and reduce the risk of system crash.

[0109] The technicians in the relevant field can clearly understand that for the convenience and simplicity of description, only the division of the above-mentioned functional units and modules is used as an example for illustration. In practical applications, the above-mentioned function allocation can be completed by different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiment can be integrated in a processing unit, or each unit can exist physically separately, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units and modules are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units and modules in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0110] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0111] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0112] In the embodiments provided in the present application, it should be understood that the disclosed devices / terminal equipment and methods can be implemented in other ways. For example, the device / terminal equipment embodiments described above are only schematic. For example, the division of the modules or units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0113] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0114] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0115] If the integrated module is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the present application implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned control method embodiment when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium. It should be noted that the content contained in the computer-readable medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0116] In addition, the features of the embodiments shown in the drawings of the present application or the various embodiments mentioned in this specification are not necessarily understood as independent embodiments. Instead, each feature described in one example of an embodiment can be combined with one or more other desired features from other embodiments to produce other embodiments not described in words or with reference to the drawings.

[0117] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A control method for a fully mechanized mining face support controller, characterized in that: include: Based on the voting process, multiple support controllers of the fully mechanized mining face are divided into master nodes and slave nodes; The slave node obtains the first key information and sends it to the master node; The master node determines second key information based on the received first key information; The master node broadcasts the second key information to all the slave nodes.

2. The control method of the fully mechanized mining face support controller according to claim 1 is characterized in that: Based on the voting process, multiple support controllers of the fully mechanized mining face are divided into master nodes and slave nodes, including: The master node sends a heartbeat signal to the slave node at a preset time interval; When a first slave node among the slave nodes fails to receive the heartbeat signal within the preset time, the first slave node initiates a voting election request; The slave node responds to the voting request based on a preset voting rule and sends voting information to the first slave node; The first slave node elects a new master node based on the voting result.

3. The control method of the fully mechanized mining face support controller according to claim 2 is characterized in that: The first slave node electing a new master node based on the voting result includes: When the number of votes obtained by some of the slave nodes participating in the voting election exceeds two-thirds of the number of the slave nodes participating in the voting election, determining the master node data set to be elected; A new master node is determined based on the numerical value of the bracket serial number in the candidate master node data set.

4. The control method of the fully mechanized mining face support controller according to claim 1, characterized in that: The master node determines the second key information based on the received first key information, including: The master node compares the received first key information with the third key information acquired by the master node; The second key information is determined based on the comparison result.

5. The control method of the fully mechanized mining face support controller according to claim 4 is characterized in that: The second key information is determined based on consistency between the first key information and the third key information.

6. The control method of the fully mechanized mining face support controller according to claim 1, characterized in that: The first key information and the second key information at least include emergency stop information and follow-up information.

7. The control method of the fully mechanized mining face support controller according to claim 1, characterized in that: Before dividing the multiple support controllers of the comprehensive mining face into master nodes and slave nodes based on the voting election process, it also includes: designating one of the support controllers as the master node and the other support controllers as slave nodes.

8. A control device for a fully mechanized mining face support controller, characterized in that: include: A classification module, used to divide multiple support controllers of the fully mechanized mining face into master nodes and slave nodes based on a voting process; An acquisition and sending module, used for the slave node to acquire the first key information and send it to the master node; A determination module, configured for the master node to determine second key information based on the received first key information; A broadcast module is used for the master node to broadcast the second key information to all the slave nodes.

9. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

10. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the method of any one of claims 1 to 7 when executing the computer program on the memory.

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